The Simulation of Four Wheel Steered Car Run in Close-Loop Driving Conditions

2014 ◽  
Vol 543-547 ◽  
pp. 1515-1519 ◽  
Author(s):  
Qi Jia Liu ◽  
Si Zhong Chen ◽  
Jun Wei Zhang
Keyword(s):  
Model Building ◽  
Control Method ◽  
Front Wheel ◽  
Lane Change ◽  
Car Model ◽  
Yaw Rate ◽  
Logical Control ◽  
Double Lane Change ◽  
Lane Change Test ◽  
Two Degree Of Freedom

The article put forwards a fuzzy logical control method which make the car yaw rate follow the reference yaw rate of two degree of freedom (2DOF) four-wheel-steer (4WS) vehicle model on the basis of the analysis of four wheel steer car proportional control, yaw rate feedback control and the control of following the response of 2DOF front wheel steer car model. Building a co-simulation model use the software of Carsim and Simulink, and made a simulation on the double lane change test. From the analysis we found that the control method can give a good performance on the test of double shift lane change test.

Asymmetric Energy Harvesting and Hydraulically Interconnected Suspension: Modeling and Validations

2019 ◽  
Author(s):  
Yuzhe Chen ◽  
Bonan Qin ◽  
Sijing Guo ◽  
Liangyao Yu ◽  
Lei Zuo
Keyword(s):  
Energy Harvesting ◽  
Vehicle Dynamics ◽  
Model Simulation ◽  
Lane Change ◽  
The Road ◽  
Car Model ◽  
Sinusoidal Input ◽  
Double Lane Change ◽  
Lane Change Test ◽  
Better Than

Abstract This paper introduces a new form of energy-harvesting suspension that is integrated in a hydraulically interconnected suspension (HIS) system. The combined energy-harvesting and hydraulic interconnection features provide improved energy efficiency and vehicle dynamics performance. A half car model and a full car model are developed to validate the effectiveness of this design. Different dynamic input scenarios are used for model simulation, which includes single-wheel sinusoidal input, two-wheel sinusoidal input and double lane change test. The system performs better than a conventional suspension system in rolling dynamics in the cases of the single-wheel road input and double lane change test. The heaving dynamics is dependent on the frequency of the road input. The energy harvesting can generate up to 421 w at 4 Hz and 40 mm (peak to peak) road input.

A novel decision-making unit for automated maneuver of articulated vehicles in real traffic situations

2019 ◽  
Vol 234 (1) ◽  
pp. 152-171 ◽  
Author(s):  
Saeed Shojaei ◽  
Ali Rahmani Hanzaki ◽  
Shahram Azadi ◽  
Mohammad Amin Saeedi
Keyword(s):  
Decision Making ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Time Range ◽  
Lane Change ◽  
Mode Control ◽  
Articulated Vehicle ◽  
Double Lane Change ◽  
Real Traffic

In this paper, a new decision-making algorithm for double lane change maneuver of an articulated vehicle in real dynamic circumstances is studied. A novel method for determining the decision conditions is used based on the articulated vehicle kinematics and dynamics. Through this method, several points of the articulated vehicle are considered in various situations when conducting double lane change maneuver, and the critical points are determined. A new realistic dynamic method is used based on a 16-degrees of freedom dynamic model of the articulated vehicle. The sliding mode control method is utilized to increase the method efficiency. Therefore, the least safe time to perform the double lane change maneuver is extracted based on the sliding mode control method as tracking control. A new Articulated Vehicle Least safe time formulation is determined for dynamic circumstances. Based on the results of simulated test, the acceptable time range is also established for conducting the lane change maneuver. The lane change maneuver is generalized to the double lane change maneuver. Decision-making algorithm is introduced based on real traffic situations. The dynamic approach and the decision-making algorithm are verified. Results show the validity of the reflected method meaning that the decision-making algorithm is acceptable.

Control Methods of Active Front Wheel Steering for 4WD Electric Vehicle

2011 ◽  
Vol 97-98 ◽  
pp. 735-740
Author(s):  
Ming Hui Zhao ◽  
Lian Dong Wang ◽  
Lei Ma ◽  
Hui Hou
Keyword(s):  
Control Method ◽  
Front Wheel ◽  
Control Input ◽  
Feedback Controllers ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Model Control ◽  
Four Wheel Drive ◽  
Yaw Moment

Based on two freedom degrees of vehicle model, control method which takes yaw rate and sideslip angle as system state, and front wheel corner and direct yaw moment as control input is put forward. Considering uncertainty of velocity and direct yaw moment, feedforward-feedback controllers are designed. Four wheel drive force are allocated by using feedforward compensation and yaw moment which is formed by driving force difference value. It makes yaw rate and sideslip well of tracking the desirable model when the vehicle drive steering. Finally, vehicle handling stability is studied on conditions of step input and sine input by simulation.

scholarly journals ANALYSIS OF LATERAL DYNAMIC STABILITY OF SMALL (B1 CLASS) VEHICLES / MAŽŲ (B1 KLASĖS) AUTOMOBILIŲ SKERSINIO DINAMINIO STABILUMO ANALIZĖ

2014 ◽  
Vol 6 (5) ◽  
pp. 552-557 ◽  
Author(s):  
Eglė Dūdėnaitė ◽  
Robertas Pečeliūnas ◽  
Vidas Žuraulis ◽  
Dalius Matuzevičius
Keyword(s):  
Dynamic Stability ◽  
Dynamic Characteristics ◽  
Vehicle Stability ◽  
Lane Change ◽  
Lateral Velocity ◽  
Stability Problems ◽  
Yaw Rate ◽  
Calculation Methodology ◽  
Double Lane Change

The paper analyses the dynamic characteristics of light vehicles during double lane change manoeuvre (ISO 3888-2). The purpose of research is to determine the angle of vehicle sideslip using the adjusted calculation methodology according to the measured longitudinal and lateral velocity and yaw rate and to estimate vehicle stability and drivability based on the obtained results driving at various speeds. Small (B1 class) vehicles have been selected for this research because of stability problems during sudden manoeuvres. Straipsnyje nagrinėjamos lengvųjų automobilių dinaminės charakteristikos dvipusio judėjimo juostos keitimo manevro metu (ISO 3888-2). Tyrimo tikslas – pagal eksperimentinio bandymo metu jutiklių užfiksuotas išilginio ir skersinio greičio projekcijas ir sukimosi greičius apie vertikalią automobilio ašį, pritaikius skaičiavimo metodiką, apskaičiuoti slydimo (skersridės) kampus. Pagal gautus rezultatus įvertinti automobilių stovumą ir valdomumą važiuojant skirtingais greičiais. Tyrimams pasirinkti maži (B1 klasės) automobiliai, nes staigaus manevro metu šios klasės automobiliai gali tapti nestabilūs.

Verification of 14DOF Full Vehicle Model Based on Steering Wheel Input

2012 ◽  
Vol 165 ◽  
pp. 109-113 ◽  
Author(s):  
Z.A. Kadir ◽  
K. Hudha ◽  
F. Ahmad ◽  
Mohamad Faizal Abdullah ◽  
A.R. Norwazan ◽  
...  
Keyword(s):  
Vehicle Dynamics ◽  
Model Verification ◽  
Steering Wheel ◽  
Lane Change ◽  
Vehicle Model ◽  
Acceptable Error ◽  
Full Vehicle ◽  
Model Based ◽  
Double Lane Change ◽  
Lane Change Test

This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior. The full vehicle model is then verified with well-known vehicle dynamics software namely CarSimEd based on the driver input from the steering wheel. Three types of vehicle dynamics test are performed for the purpose of model verification namely step steer test, double lane change test and slalom test. The results of model verification show that the behaviors of the model closely follow the behaviors obtained from CarSimEd software with acceptable error.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

Identification of Linear Tire Cornering Stiffness Using Subspace Methods

2014 ◽  
Vol 701-702 ◽  
pp. 492-497
Author(s):  
Teng Yue Ba ◽  
Xi Qiang Guan ◽  
Jian Wu Zhang
Keyword(s):  
Data Driven ◽  
Subspace Identification ◽  
Subspace Methods ◽  
Identification Methods ◽  
The Road ◽  
Strong Robustness ◽  
Subspace Algorithms ◽  
Double Lane Change ◽  
On The Road ◽  
Lane Change Test

In this paper, subspace identification methods are proposed to estimate the linear tire cornering stiffness, which are only based on the road tests data without any prior knowledge. This kind of data-driven method has strong robustness. In order to validate the feasibility and effectiveness of the algorithms, a series of standard road tests are carried out. Comparing with different subspace algorithms used in road tests, it can be concluded that the front tire cornering stiffness can be estimated accurately by the N4SID and CCA methods when the double lane change test data are taken into analysis.

Manufacturing Quality Control Method Based on Bayesian Network Model

2010 ◽  
Vol 450 ◽  
pp. 292-295
Author(s):  
Ye Hong Dong ◽  
Dong Xiang ◽  
Guang Hong Duan
Keyword(s):  
Quality Control ◽  
Bayesian Network ◽  
Model Building ◽  
Control Method ◽  
Drilling Process ◽  
Quality Prediction ◽  
Shewhart Control ◽  
Drilling Quality ◽  
Micro Drilling ◽  
Manufacturing Mode

In order to address the problem of quality control faced in multi-type and small-batch manufacturing mode, the method based on Bayesian Network (BN) is proposed. The building, learning and evolving method as well as the quality prediction and diagnosis method of BN model are described in this paper. The combination of BN model and Shewhart control chart is also mentioned. The model building and evolving method was conducted in PCB micro-drilling process as example, verifying that the prediction accuracy increases with the evolved model. The drilling quality prediction was compared with that obtained through regression analysis and artificial neural network. The advantage of BN model in advanced manufacturing is proved.

Optimal Rollover Prevention With Steer by Wire and Differential Braking

2003 ◽  
Author(s):  
Christopher R. Carlson ◽  
J. Christian Gerdes
Keyword(s):  
Predictive Control ◽  
Stability Control ◽  
Roll Angle ◽  
Control Law ◽  
Control Structures ◽  
Yaw Rate ◽  
Rollover Prevention ◽  
Steer By Wire ◽  
Nonlinear Vehicle Model ◽  
Double Lane Change

This paper uses Model Predictive Control theory to develop a framework for automobile stability control. The framework is then demonstrated with a roll mode controller which seeks to actively limit the peak roll angle of the vehicle while simultaneously tracking the driver’s yaw rate command. Initially, control law presented assumes knowledge of the complete input trajectory and acts as a benchmark for the best performance any controller could have on this system. This assumption is then relaxed by only assuming that the current driver steering command is available. Numerical simulations on a nonlinear vehicle model show that both control structures effectively track the driver intended yaw rate during extreme maneuvers while also limiting the peak roll angle. During ordinary driving, the controlled vehicle behaves identically to an ordinary vehicle. These preliminary results shows that for double lane change maneuvers, it is possible to limit roll angle while still closely tracking the driver’s intent.

A Comparison of Trajectory Planning and Control Frameworks for Cooperative Autonomous Driving

2021 ◽  
Vol 143 (7) ◽  
Author(s):  
Icaro Bezerra Viana ◽  
Husain Kanchwala ◽  
Kenan Ahiska ◽  
Nabil Aouf
Keyword(s):  
Trajectory Planning ◽  
Cooperative Behavior ◽  
Autonomous Driving ◽  
General Idea ◽  
Mixed Integer ◽  
Quadratic Program ◽  
Change Scenario ◽  
Planning Problem ◽  
Lane Change ◽  
Double Lane Change

Abstract This work considers the cooperative trajectory-planning problem along a double lane change scenario for autonomous driving. In this paper, we develop two frameworks to solve this problem based on distributed model predictive control (MPC). The first approach solves a single nonlinear MPC problem. The general idea is to introduce a collision cost function in the optimization problem at the planning task to achieve a smooth and bounded collision function, and thus to prevent the need to implement tight hard constraints. The second method uses a hierarchical scheme with two main units: a trajectory-planning layer based on mixed-integer quadratic program (MIQP) computes an on-line collision-free trajectory using simplified motion dynamics, and a tracking controller unit to follow the trajectory from the higher level using the nonlinear vehicle model. Connected and automated vehicles (CAVs) sharing their planned trajectories lay the foundation of the cooperative behavior. In the tests and evaluation of the proposed methodologies, matlab-carsim cosimulation is utilized. carsim provides the high-fidelity model for the multibody vehicle dynamics. matlab-carsim conjoint simulation experiments compare both approaches for a cooperative double lane change maneuver of two vehicles moving along a one-way three-lane road with obstacles.

Sign in / Sign up

Export Citation Format

Share Document