scholarly journals Simulation of the Effect of Turning Steering Wheel Intensity on the Vehicle Stability

2020 ◽  
Vol 9 (2) ◽  
pp. 242-247
Keyword(s):  
Mathematical Model ◽  
Steering Wheel ◽  
Vehicle Stability ◽  
Lane Change ◽  
Correlation Index ◽  
Wheel Turning ◽  
Quadratic Deviation

In this article, a mathematical model has been developed to show the effect of the drivers’ steering wheel turning intensity on the vehicle’s stability. The developed mathematical model was compared with the results of experiment and its adequacy was evaluated. 3 conditional drivers turn the steering wheel of the vehicle at different speeds. When the conditional drivers were analyzed in the “J-turn” maneuver, it was determined that the indicators of 1,2,3 - conditional drivers are close to the standard. The conditional 2-driver recorded an indicator close to the standard. As for the “Single Lane Change” maneuver, the value of the smallest quadratic deviation from the trajectory of conditional 1-driver was recorded, the correlation index was equal to 0.102, respectively, 0.88

scholarly journals Modeling the steering wheel influence by the driver on the vehicle's motion stability

2021 ◽  
Vol 264 ◽  
pp. 05015
Author(s):  
Doniyor Аkhmedov ◽  
Shavkat Alimukhamedov ◽  
Ibragim Tursunov ◽  
Soyib Narziev ◽  
Davron Riskaliev
Keyword(s):  
Mathematical Model ◽  
Standard Deviation ◽  
Steering Wheel ◽  
Lane Change ◽  
Correlation Index ◽  
Motion Stability ◽  
Wheel Turn

In this article, a mathematical model was developed to influence the intensity of the steering wheel turn by the driver on the vehicle's stability. Comparison of the developed mathematical model with the experiment results made it possible to establish their adequacy. The effect of the three conditional drivers on the intensity of the steering wheel was examined. When performing the 'J-turn' maneuver, comparing the indices of the 1st, 2nd and 3rd conditional drivers, their proximity to the requirements of the standard was established. It was found that the indices of the second conditional driver are closest to the standard requirements. When performing the 'Single Lane Change' maneuver by the first conventional driver, the standard deviation value from the specified trajectory was 0.102, and the correlation index was 0.88.

scholarly journals Analysis of the Modified Construction of the Column Mechanism MacPherson

2018 ◽  
Vol 19 (11) ◽  
pp. 41-44
Author(s):  
Marek Kwietniewski ◽  
Tadeusz Bil
Keyword(s):  
Mathematical Model ◽  
Steering Wheel ◽  
Passenger Cars ◽  
Proper Selection ◽  
Front Suspension ◽  
Change Of Direction ◽  
Partial Elimination ◽  
Selection Of

The McPherson column name comes from the inventor of this Earle S. MacPherson solution, which was first manufactured at the Ford plant in 1949. This is one of the most commonly used types of front suspension in popular passenger cars. The advantage of this type of suspension is a compact construction, but the disadvantage is. The influence of the damping motion on the position of the steering wheel may result in an unintentional change of direction of travel. At the same time, there is a slight additional tilt of the wheels when the "spring" movement. In the proposed solution, partial elimination of this type of incorrectness is proposed by changing the type of connection of the steering rod end to the steering wheels of the vehicle. The introduced change consists in replacing one of the spherical joints in these joints into two rotary joints. Such a change introduces a mathematical model describing the behavior of the suspension under the influence of the depreciation of additional parameters. Proper selection of these parameters allows for significant reduction of unnecessary direction changes during driving. The described model of the structure of the mechanism allows to analyze the influence of all its dimensions on the selected parameters of the behavior of the wheels during the ride, resulting from the movement of the suspension and steering.

Steering Analysis of Multi-Axle Vehicle Based on ADAMS/VIEW

2012 ◽  
Vol 538-541 ◽  
pp. 2878-2881
Author(s):  
Yong Qiang Zhu ◽  
Ping Xia Zhang
Keyword(s):  
High Speed ◽  
Large Angle ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Low Speed ◽  
Vehicle Simulation ◽  
Yaw Rate ◽  
Wheel Turning ◽  
Double Phase ◽  
All Wheel Steering

In order to improve low-speed flexibility and high-speed handling and stability of multi-axle vehicle, a double-phase steering system was designed with planetary gear system. An in-phase steering mode is used when steering wheel turning in small angle. A adverse-phase steering mode is used when steering wheel turning in large angle. A five-axle vehicle simulation model was established with software ADAMS/VIEW. The research of all-wheel steering and non-all-wheel steering for high speed and low speed was respectively processed. When running in high speed, the lateral acceleration and yaw rate of the centroid are significantly lower when rear wheels steering in in-phase mode than the rear wheels not turning, which makes the possibility of roll and drift decrease, when vehicle overtaking in high-speed. When running in low speed, compared with rear wheels not steering, when rear wheels sreering, lateral acceleration increased by only 12.8%, yaw rate is 17.3% higher, diameter of the centroid trajectory is reduced by 12.9%, which greatly increases the mobility and flexibility of the multi-axle vehicle when turning at low speed.

scholarly journals End-to-End Automated Lane-Change Maneuvering Considering Driving Style Using a Deep Deterministic Policy Gradient Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (18) ◽  
pp. 5443
Author(s):  
Hongyu Hu ◽  
Ziyang Lu ◽  
Qi Wang ◽  
Chengyuan Zheng
Keyword(s):  
Autonomous Vehicles ◽  
The State ◽  
Steering Wheel ◽  
Lane Change ◽  
Simulation Environment ◽  
Longitudinal Control ◽  
Driving Style ◽  
Lane Changing ◽  
Policy Gradient ◽  
End To End

Changing lanes while driving requires coordinating the lateral and longitudinal controls of a vehicle, considering its running state and the surrounding environment. Although the existing rule-based automated lane-changing method is simple, it is unsuitable for unpredictable scenarios encountered in practice. Therefore, using a deep deterministic policy gradient (DDPG) algorithm, we propose an end-to-end method for automated lane changing based on lidar data. The distance state information of the lane boundary and the surrounding vehicles obtained by the agent in a simulation environment is denoted as the state space for an automated lane-change problem based on reinforcement learning. The steering wheel angle and longitudinal acceleration are used as the action space, and both the state and action spaces are continuous. In terms of the reward function, avoiding collision and setting different expected lane-changing distances that represent different driving styles are considered for security, and the angular velocity of the steering wheel and jerk are considered for comfort. The minimum speed limit for lane changing and the control of the agent for a quick lane change are considered for efficiency. For a one-way two-lane road, a visual simulation environment scene is constructed using Pyglet. By comparing the lane-changing process tracks of two driving styles in a simplified traffic flow scene, we study the influence of driving style on the lane-changing process and lane-changing time. Through the training and adjustment of the combined lateral and longitudinal control of autonomous vehicles with different driving styles in complex traffic scenes, the vehicles could complete a series of driving tasks while considering driving-style differences. The experimental results show that autonomous vehicles can reflect the differences in the driving styles at the time of lane change at the same speed. Under the combined lateral and longitudinal control, the autonomous vehicles exhibit good robustness to different speeds and traffic density in different road sections. Thus, autonomous vehicles trained using the proposed method can learn an automated lane-changing policy while considering safety, comfort, and efficiency.

scholarly journals Vehicle Stability Control Strategy Based on Recognition of Driver Turning Intention for Dual-Motor Drive Electric Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Shu Wang ◽  
Xuan Zhao ◽  
Qiang Yu
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Stability Control ◽  
Motor Drive ◽  
Vehicle Stability ◽  
Lane Change ◽  
Vehicle Stability Control ◽  
Stability Control System ◽  
The Stability

Vehicle stability control should accurately interpret the driving intention and ensure that the actual state of the vehicle is as consistent as possible with the desired state. This paper proposes a vehicle stability control strategy, which is based on recognition of the driver’s turning intention, for a dual-motor drive electric vehicle. A hybrid model consisting of Gaussian mixture hidden Markov (GHMM) and Generalized Growing and Pruning RBF (GGAP-RBF) neural network is constructed to recognize the driver turning intention in real time. The turning urgency coefficient, which is computed on the basis of the recognition results, is used to establish a modified reference model for vehicle stability control. Then, the upper controller of the vehicle stability control system is constructed using the linear model predictive control theory. The minimum of the quadratic sum of the working load rate of the vehicle tire is taken as the optimization objective. The tire-road adhesion condition, performance of the motor and braking system, and state of the motor are taken as constraints. In addition, a lower controller is established for the vehicle stability control system, with the task of optimizing the allocation of additional yaw moment. Finally, vehicle tests were carried out by conducting double-lane change and single-lane change experiments on a platform for dual-motor drive electric vehicles by using the virtual controller of the A&D5435 hardware. The results show that the stability control system functions appropriately using this control strategy and effectively improves the stability of the vehicle.

scholarly journals A Hysteresis-Based Steering Feel Model for Steer-by-Wire Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-14
Author(s):  
M. Selçuk Arslan
Keyword(s):  
Mathematical Model ◽  
Steering System ◽  
Steering Wheel ◽  
Hysteresis Model ◽  
Steering Feel ◽  
Proposed Model ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Tire Dynamics ◽  
The Mathematical Model

A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized Bouc-Wen hysteresis model is used to describe the steering wheel torque feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of adjusting the shape of steering feel model for various physical and dynamic conditions increases. Addition of a term about the tire dynamics to the steering feel model renders the steering wheel torque feedback more informative about the tire road interaction. Some simulation results are presented to establish the feasibility of the proposed model. The results of hardware-in-the-loop simulations show that the model provides a realistic and informative steering feel.

Decision Analysis of Lane Change Based on Fuzzy Logic

2013 ◽  
Vol 419 ◽  
pp. 790-794 ◽  
Author(s):  
Wen Shi ◽  
Ya Ping Zhang
Keyword(s):  
Fuzzy Logic ◽  
Change Process ◽  
Road Surface ◽  
Driver Model ◽  
Steering Wheel ◽  
Surface Model ◽  
Lane Change ◽  
The Road ◽  
Fuzzy Logic Analysis ◽  
Test Result

Aiming at the complexity of lane change process, fuzzy logic analysis method was proposed to analyzing this behavior. By assaying the multi lane change scene that the drivers may choose, influencing factors were quantified. Each indicator factor after quantified was treated as model input. PID models of driver, vehicle and road surface were established in Simulink condition. The road surface model controls whether the lane change process will be conducted, and the driver model will export angle of steering wheel to deciding the efficiency of lane change process. Real road test was conducted and the test result shows that information between human and vehicle can be fused sufficiently.

Optimal Design of Basic Parameter of Disconnected Steering Trapezoid

2012 ◽  
Vol 424-425 ◽  
pp. 334-337
Author(s):  
Cui Xia Guo ◽  
Kang Liu ◽  
Wen Ling Xie
Keyword(s):  
Mathematical Model ◽  
Deflection Angle ◽  
Steering Wheel ◽  
Optimized Design ◽  
Pure Rolling ◽  
Tire Wear ◽  
Optimization Parameters ◽  
Basic Parameters ◽  
The Common ◽  
The Ideal

In the design of disconnected steering trapezoid, the Fmincon function of MATLAB optimization toolbox is used to optimize its basic parameters. First, establish the optimal mathematical model. Second, obtain wheel angle curve of inside and outside steering by least-squares fitting. Finally, compare the curve with the ideal Ackerman geometric curve to get the optimization parameters of disconnected steering trapezoid. The example of optimized design validated that the actual curve of deflection angle of the both sides of steering wheel was almost close to perfect Ackerman geometry curve, it ensures the steering of wheel do pure rolling in the common conditions, which reduce tire wear

Sensitivity Analysis of Vehicle Parameters for Heading Angle Control of an Unmanned Ground Vehicle

2014 ◽  
Author(s):  
Shubhashisa Sahoo ◽  
Shankar C. Subramanian ◽  
Suresh Srivastava
Keyword(s):  
Mathematical Model ◽  
Sensitivity Analysis ◽  
Dynamic Performance ◽  
Measurement Unit ◽  
Lane Change ◽  
Actual System ◽  
Magic Formula ◽  
Actuator Dynamics ◽  
Wide Range ◽  
Heading Angle

Even if there are many software and mathematical models available in the literature to analyze the dynamic performance of Unmanned Ground Vehicles (UGVs), it is always difficult to identify or collect the required vehicle parameters from the vehicle manufacturer for simulation. In analyzing the vehicle handling performance, a difficult and complex task is to use an appropriate tire model that can accurately characterize the ground-wheel interaction. Though, the well-known ‘Magic Formula’ is widely used for this purpose, it requires expensive test equipment to estimate the Magic Formula coefficients. The design of longitudinal and lateral controllers plays a significant role in path tracking of an UGV. Though the speed of the vehicle may remain almost constant in most of the maneuvers such as lane change, Double Lane Change (DLC), step steer, cornering, etc., design of the lateral controller is always a challenging task as it depends on the vehicle parameters, road information and also on the steering actuator dynamics. Although a mathematical model is an abstraction of the actual system, the controller is designed based on this model and then deployed on the real system. In this paper, a realistic mathematical model of the vehicle considering the steering actuator dynamics has been developed by calculating the cornering stiffnesses from the basic tire information and the vertical load on each tire. A heading angle controller of the UGV has been considered using the Point-to-Point navigation algorithm. Then, these controllers have been implemented on a test platform equipped with an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). A wide range of experiments such as J-Turn, lane change and DLC have also been conducted for comparison with the simulation results. Sensitivity analysis has been carried out to check the robustness and stability of the controller by varying the cornering stiffness of tires, the most uncertain parameter. The longitudinal speed of the vehicle is assumed to vary between a minimum value of 1.4 m/s and a maximum value of 20 m/s. It has been found that when the vehicle is moving at a constant velocity of 3.2 m/s, a heading angle change of 20 degrees can be achieved within 3 seconds with 2% steady state error using a proportional controller. It was observed that at lower speeds, the controller is more sensitive to the steering actuator dynamics and at higher speeds, the controller is more sensitive to the cornering stiffness of tires.

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