Simulation for Vehicle Handling Performance Based on the Cybernetic Model of “Driver-Vehicle-Road” Closed-Loop System

In this paper, a cybernetic model of “driver-vehicle-road” closed-loop system including a driver model and a steering system model is built under the MATLAB/Simulink environment. Then, the influence of different dynamic characteristics of steering system on vehicle handling and stability is studied. The results suggest that the “driver-vehicle” model built has a high tracking precision in following the path; Increasing the rigidity of steering system or decreasing the dilatory distance of front tire can enhance the tracking precision and can minish the driving burden and the fatalness of side-tip, the total evaluation result of vehicle performance will be optimized as well.

Download Full-text

Study on Mobile Robot Applied Mechanics Modeling and Motion Planning

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.252.23 ◽

2012 ◽

Vol 252 ◽

pp. 23-26

Author(s):

Xue Peng Liu ◽

Dong Mei Zhao

Keyword(s):

Closed Loop ◽

Open Loop ◽

Loop System ◽

System Model ◽

System Response ◽

Applied Mechanics ◽

Closed Loop System ◽

Wheeled Mobile Robots ◽

Dominant Pole ◽

Approximate Treatment

Through the closed loop system response curve of the approximate treatment and the concept of dominant pole, combined with the root track analysis, the most similar to the open loop system model in applied mechanics is obtained. In the process of the closed-loop system model, the friction and gear clearance is considered for manufacturing system. The path planning is proposed for wheeled mobile robots

Download Full-text

A Study on the Effect of Driver Model Parameters on the Performance of Driver-Vehicle-Road Closed-Loop System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.470.604 ◽

2013 ◽

Vol 470 ◽

pp. 604-608

Author(s):

Li Zeng Zhang ◽

Hsin Guan ◽

Xin Jia ◽

Ping Ping Lu ◽

Yong Shang Chen

Keyword(s):

Delay Time ◽

Closed Loop ◽

System Simulation ◽

Lag Time ◽

Loop System ◽

Driver Model ◽

Model Parameters ◽

Closed Loop System

The concept of DODF and other two evaluation indices based on DODF were proposed. Based on the optimal preview acceleration driver model, the effect of driver model parameters on the performance of driver-vehicle-road closed-loop system was studied by the closed-loop system simulation. The results show that the preview time of a driver who has good driving habits should be always larger than a certain valueTP0, the increase of both nerve delay timetdand muscle lag timeThlead to the increase ofTP0, andtdhas more effect onTP0thanThdoes. The increase of bothtdandThlead to the decrease of DODF, andtdhas more effect on DODF thanThdoes. Furthermore, the increase of bothtdandThalso lead to the increase of both tracking indexJEMand driving load indexTCM,tdhas more effect onJEMthanThdoes, andThhas more effect onTCMthantddoes.

Download Full-text

Modeling adaptive preview time of driver model for intelligent vehicles based on deep learning

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/09596518211028372 ◽

2021 ◽

pp. 095965182110283

Author(s):

Ju Xie ◽

Xing Xu ◽

Feng Wang ◽

Long Chen

Keyword(s):

Closed Loop ◽

Path Following ◽

Intelligent Vehicles ◽

Loop System ◽

Driver Model ◽

Intelligent Vehicle ◽

Training Procedure ◽

Closed Loop System ◽

Time Model ◽

Driving Conditions

In order to improve the adaptability and tracking performance of intelligent vehicles under complex driving conditions, and simulate the manipulation characteristics of the real driver in the driver–vehicle–road closed-loop system, a kind of adaptive preview time model for intelligent vehicle driver model is proposed. This article builds the intelligent vehicle driver model based on optimal preview control theory and the basic preview time is identified to minimize path error under various conditions based on particle swarm optimization. Then, the ideal compensation preview time is constructed in various conditions and the appropriate factors affecting compensation preview time are filtered out according to correlation analysis. Moreover, the architecture and training procedure of deep network is specified for compensation preview time prediction. Finally, the adaptive preview time is modeled by combining the basic preview time with the compensation preview time and the validity of adaptive preview time model is verified by the driver–vehicle–road closed-loop system under normal and aggressive driving conditions. The results show that the proposed adaptive preview time model can help intelligent vehicles better adapt complex driving conditions and effectively improve the path-following performance.

Download Full-text

Study on Mechanical Automation with Optimal Control for Four-Wheel-Active-Steer Vehicle

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.703.264 ◽

2013 ◽

Vol 703 ◽

pp. 264-268 ◽

Cited By ~ 1

Author(s):

Feng Du ◽

Zhi Wei Guan ◽

Guang Hui Yan

Keyword(s):

Optimal Control ◽

High Speed ◽

Closed Loop ◽

Response Characteristic ◽

Loop System ◽

Driver Model ◽

Closed Loop System ◽

Control Effect ◽

Sideslip Angle ◽

Active Steering

For improving the vehicle handling at high speed, an optimal controller was introduced for the four-wheel-active-steering vehicle. A closed-loop system was set up by combining vehicle model with driver model. The simulation test in the closed-loop system was carried out to verify control effect of such a optimum controller. Simulation results show that the four-wheel-active-steering vehicle under the optimal control can gain expected control effect such as wiping out sideslip angle and tracking desired yaw rate and so on. In addition, the four-wheel-active-steering vehicle with the optimal control can also track desired trajectory and its following accuracy is better than the traditional front-wheel steering vehicle. So, the steering response characteristic for the four-wheel-active-steering vehicle at high speed is improved.

Download Full-text