Modelling, Simulation and Validation of 9 DOF Vehicles Model for Automatic Steering System

2012 ◽  
Vol 165 ◽  
pp. 192-196 ◽  
Author(s):  
Mohd Zakaria Mohammad Nasir ◽  
Khisbullah Hudha ◽  
Mohd Zubir Amir ◽  
Faizul Akmar Abdul Kadir

Autonomous vehicle have recently arouse great interest and attention in the academic worldwide because of their great potential. As the new features for driver assistance and active safety systems are growing rapidly in vehicles, the simulation within a virtual environment has become a necessity. A vehicle model is required to represent the vehicle behaviour as close as real vehicle in simulation software. This paper presents 9 DOF vehicle models which consist of handling and Calspan tire model develop in Matlab Simulink environment to study the vehicle behaviour for double lane change (DLC) and step steer input test. Those criteria will be compared with validated vehicle software namely CarsimEd to evaluated the performance of the vehicle model involving lateral acceleration, yaw angle and yaw rate from both output. Results show the 9 DOF vehicle closely follows the CarsimEd trends with acceptable error at both conditions.

Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.


Author(s):  
Fabio della Rossa ◽  
Massimiliano Gobbi ◽  
Giampiero Mastinu ◽  
Carlo Piccardi ◽  
Giorgio Previati

A comparison of the lateral stability behaviour between an autonomous vehicle, a vehicle with driver and a vehicle without driver (fixed steering wheel) is made by introducing a simple mathematical model of a vehicle running on even road. The mechanical model of the vehicle has two degrees of freedom and the related equations of motion contain the nonlinear tyre characteristics. The driver is described by a well-known model proposed in the literature. The autonomous vehicle has a virtual driver (robot) that behaves substantially like a human, but with its proper reaction time and gain. The road vehicle model has been validated. The study of vehicle stability has to be based on bifurcation analysis and a preliminary investigation is proposed here. The accurate computation of steady-state equilibria is crucial to study the stability of the three kinds of vehicles here compared. The stability of the bare vehicle without driver (fixed steering wheel) is studied in a rather complete way referring to a number of combinations of tyre characteristics. The (known) conclusion is that the understeering vehicle is stable at each lateral acceleration level and at each vehicle speed. The additional (partially unknown) conclusion is that the vehicle (model) with degradated tyres may exhibit a huge number of different bifurcations. The driver has many effects on the stability of the vehicle. One positive effect is to eliminate the many possible different equilibria of the bare vehicle and keep active one single equilibrium only. Another positive effect is to broaden the basin of attraction of stable equilibria (at least at relatively low speed). A negative effect is that, even for straight running, the driver seem introducing a subcritical Hopf bifurcation which limits the maximum forward speed of some understeering vehicles (that could run faster with fixed steering wheel). Both the mentioned positive and negative effects appear to be applicable to autonomous vehicles as well. Further studies could be useful to overcome the limitations on the stability of current autonomous vehicles that have been identified in the present research.


2015 ◽  
Vol 35 (3) ◽  
pp. 71-86 ◽  
Author(s):  
Krzysztof Zboiński ◽  
Piotr Woźnica

This paper represents new results obtained by its authors while searching for the proper shape of polynomial railway transition curves (TCs). The search for the proper shape means the evaluation of the curve properties based on chosen dynamical quantities and generation of such shape with use of mathematically understood optimisation methods. The studies presented now and in the past always had got a character of the numerical tests. For needs of this work advanced vehicle model, dynamical track-vehicle and vehicle-passenger interactions, and optimisation methods were exploited. In this software complete rail vehicle model of 2-axle freight car, the track discrete model, and non-linear description od wheel-rail contact are used. That part of the software, being vehicle simulation software, is combined with library optimisation procedures into the final computer programme. The main difference between this and previous papers by the authors are the degrees of examinated polynomials. Previously they tested polynomial curves of odd degrees, now they focus on TCs of 6th, 8th and 10th degrees with and without curvature and superelevation ramp tangence in the TC’s terminal points. Possibility to take account of fundamental demands (corresponding values of curvature in terminal points) concerning TC should be preserved. Results of optimisation are compared both among themselves and with 3rd degree parabola. The aim of present article is to find the polynomial TCs’ optimum shapes which are determined by the possible polynomial configurations. Only one dynamical quantities being the results of simulation of railway vehicle advanced model is exploited in the determination of quality function (QF1). This is: minimum of integral of vehicle body lateral acceleration.


2012 ◽  
Vol 591-593 ◽  
pp. 733-736
Author(s):  
Dong Shan Sun ◽  
Fang Wang ◽  
Yan Pin He

Based on the theory of multi-body system dynamics and simulation software ADAMS/Car, the whole vehicle model was established. Afterwards by means of pylon course slalom, the accuracy of modeling was tested. The analysis and evaluation were later made to draw a conclusion that the handling stability of model needed improved. So as to improve the handling stability, the index lateral acceleration, yaw rate, side slip angle were taken as target function while suspension stiffness parameters were designed variables. Optimization of vehicle handing stability was practiced by applying second-order Response Surface Methodology (RSM) model. The relationship could be obtained by least square method obviously. Moreover applying with linear interpolation the final objective function was decided. The minimum of final objective function was the optimal result. Simulation analysis was performed again for the whole vehicle model by parameters modification. Subsequently, the results showed that this method greatly improved handling stability.


Author(s):  
Indeevar Shyam Lanka ◽  
Akhil Challa ◽  
Nithya Sridhar ◽  
Shankar C. Subramanian ◽  
Sankarganesh Sankaralingam ◽  
...  

This work proposes a method to simulate wheel lock of a Heavy Commercial Road Vehicle (HCRV) using pneumatic brake circuit on a brake dynamometer. The proposed methodology lumps the effects of wheel slip and load transfer during straight-line braking into ‘equivalent inertia’ on the wheels. This inertia profile could then be imported on a dynamometer interface and realized using suitable inertia discs and an electric motor. Equivalent inertia was computed from test datasets obtained from a Hardware-in-Loop (HiL) experimental system consisting of an air brake system and IPG TruckMaker®, a vehicle dynamic simulation software. These datasets were obtained for various road, vehicle load and braking conditions. This framework would facilitate the evaluation of wheel slip regulation algorithms using a brake dynamometer by capturing necessary dynamics of HCRVs during braking. It is expected that such testing can be placed between HiL and on-road tests, and would provide greater confidence in Active Safety Systems (ASSs) before their deployment on vehicles.


2012 ◽  
Vol 190-191 ◽  
pp. 865-869
Author(s):  
Xue Jun Ding ◽  
Yu Ping He

This paper introduces a design of active trailer steering system (ATS) for multi-trailer articulated vehicles (MTAHVs) using driver-software-in-the-loop (DSIL) real-time simulations. A yaw-plane MTAHV model is developed to derive an ATS controller. Then, the real-time versions of the controller and MTAHV models are constructed in LabVIEW and TruckSim, respecitvely. With the integration of these models, the real-time simulations are conducted with a vehicle simulator. The simulations indicate that the controller can effectively improve the MTAHV’s directional performance under the specified test maneuvers.


Author(s):  
Jin-Woo Lee ◽  
Bakhtiar B. Litkouhi ◽  
Hsun-Hsuan Huang

The Lane Keeping Assist (LKA) system is a safety feature that applies an automatic steering torque to the vehicle steering system to keep the subject vehicle in its lane. Like many other active safety systems, the LKA systems may often experience a performance issue in real road situations. The common LKA performance issues are mainly due to poor quality of the front camera’s curvature data and sudden drops of camera’s detection range. To overcome these issues, this paper proposes a two-stage lane keeping control. In this approach, the LKA has two independent algorithms running with a coordination. In the coordination layer, the secondary lane keeping (LK) control has the authority to override the primary LK control if the primary LK fails to maintain the subject vehicle in the current lane due to the above issues. The key aspect of this system is the accurate timing of the secondary LK’s override over the primary LK. The coordination logic between the primary and the secondary LK control, and smooth transition between the controls are also important performance measures. The determination algorithm of the LK initiation and termination plays a key role in achieving the objectives of LKA fail handling. This paper describes these algorithms as well as the path planning and the steering control algorithms. Several vehicle tests were carried out on curved roads. The results show successful and smooth transition from the primary to the secondary LK layer.


Author(s):  
Mu Chai ◽  
Wencan Zhang ◽  
Daoyong Wang ◽  
Junjie Chen

An articulated frame steered vehicle model with torsio-elastic suspension is established in Adams/View. The model considered the influence of the hydraulic steering system on the yaw stability of articulated vehicles, thus, the hydraulic steering system is formulated and modeled in MATLAB/Simulink. The ride and roll/yaw stability of the vehicle model is investigated via co-simulation of Adams and Simulink. The Adams vehicle model is verified based on the vibration acceleration responses near the seat position at constant forward speeds. The hydraulic steering system model is validated through the steady-state steering maneuver. Relative ride performance of unsuspended and fully suspended vehicle is investigated in terms of unweighted and frequency-weighted root-mean-square accelerations. The roll and yaw stability of vehicle model with and without suspension at loaded and unloaded conditions are subsequently analyzed in terms of roll angle, roll safety factor, lateral acceleration, critical speed, and so on. The results show that the torsio-elastic suspension can efficiently reduce the vibrations of the vehicle, and the articulated frame steer vehicles applied with torsio-elastic suspension yield slightly lower roll/yaw stability but substantial reductions in the ride vibration levels. The results provide some reference for the suspension and steering system design of articulated engineering vehicle.


Author(s):  
Takashi Sato ◽  
Keiji Matsumoto ◽  
Kenji Hosomi ◽  
Keisuke Taguchi

iB1350 stands for an innovative, intelligent and inexpensive boiling water reactor 1350. It is the first Generation III.7 reactor after the Fukushima Daiichi accident. It has incorporated lessons learned from the Fukushima Daiichi accident and Western European Nuclear Regulation Association safety objectives. It has innovative safety to cope with devastating natural disasters including a giant earthquake, a large tsunami and a monster hurricane. The iB1350 can survive passively such devastation and a very prolonged station blackout without any support from the outside of a site up to 7 days even preventing core melt. It, however, is based on the well-established proven Advance Boiling Water Reactor (ABWR) design. The nuclear steam supply system is exactly the same as that of the current ABWR. As for safety design it has a double cylinder reinforced concrete containment vessel (Mark W containment) and an in-depth hybrid safety system (IDHS). The Mark W containment has double fission product confinement barriers and the in-containment filtered venting system (IFVS) that enable passively no emergency evacuation outside the immediate vicinity of the plant for a severe accident (SA). It has a large volume to hold hydrogen, a core catcher, a passive flooding system and an innovative passive containment cooling system (iPCCS) establishing passively practical elimination of containment failure even in a long term. The IDHS consists of 4 division active safety systems for a design basis accident, 2 division active safety systems for a SA and built-in passive safety systems (BiPSS) consisting of an isolation condenser (IC) and the iPCCS for a SA. The IC/PCCS pools have enough capacity for 7-day grace period. The IC/PCCS heat exchangers, core and spent fuel pool are enclosed inside the containment vessel (CV) building and protected against a large airplane crash. The iB1350 can survive a large airplane crash only by the CV building and the built-in passive safety systems therein. The dome of the CV building consists of a single wall made of steel and concrete composite. This single dome structure facilitates a short-term construction period and cost saving. The CV diameter is smaller than that of most PWR resulting in a smaller R/B. Each active safety division includes only one emergency core cooling system (ECCS) pump and one emergency diesel generator (EDG). Therefore, a single failure of the EDG never causes multiple failures of ECCS pumps in a safety division. The iB1350 is based on the proven ABWR technology and ready for construction. No new technology is incorporated but design concept and philosophy are initiative and innovative.


Author(s):  
Jong-Hwa Yoon ◽  
Huei Peng

Knowing vehicle sideslip angle accurately is critical for active safety systems such as Electronic Stability Control (ESC). Vehicle sideslip angle can be measured through optical speed sensors, or dual-antenna GPS. These measurement systems are costly (∼$5k to $100k), which prohibits wide adoption of such systems. This paper demonstrates that the vehicle sideslip angle can be estimated in real-time by using two low-cost single-antenna GPS receivers. Fast sampled signals from an Inertial Measurement Unit (IMU) compensate for the slow update rate of the GPS receivers through an Extended Kalman Filter (EKF). Bias errors of the IMU measurements are estimated through an EKF to improve the sideslip estimation accuracy. A key challenge of the proposed method lies in the synchronization of the two GPS receivers, which is achieved through an extrapolated update method. Analysis reveals that the estimation accuracy of the proposed method relies mainly on vehicle yaw rate and longitudinal velocity. Experimental results confirm the feasibility of the proposed method.


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