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1
Pramanik, Santiranjan, und Sukrut Shrikant Thipse. „KINEMATIC SYNTHESIS OF CENTRAL-LEVER STEERING MECHANISM FOR FOUR WHEEL VEHICLES“. Acta Polytechnica 60, Nr. 3 (01.07.2020): 252–58. http://dx.doi.org/10.14311/ap.2020.60.0252.
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A central lever steering mechanism has been synthesized to obtain five precision points for a four-wheel vehicle using Hooke and Jeeves optimization method. This compound mechanism has been studied as two identical crossed four-bar mechanisms arranged in series. The optimization has been carried out for one crossed four-bar mechanism only instead of the entire mechanism. The number of design parameters considered for the optimization is two. The inner wheel has been considered to rotate up to 52 degrees. The steering error, pressure angle and mechanical advantage of the proposed mechanism have been compared with those achieved by the Ackermann steering mechanism. The proposed mechanism has less steering error, more favourable pressure angle and increased mechanical advantage. The method of compounding the mechanism is also applicable when the central lever is offset from the longitudinal axis of the vehicle.
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Simionescu, P. A., und M. R. Smith. „Initial Estimates in the Design of Central-Lever Steering Linkages“. Journal of Mechanical Design 124, Nr. 4 (26.11.2002): 646–51. http://dx.doi.org/10.1115/1.1505853.
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Parametric design charts are proposed for the central-lever steering linkage, generated for simplified reference configuration mechanisms, the geometry of which is defined by only four parameters. This highlights the fact, yet not generally acknowledged, that the steering law ensured by a mechanism with adjacent central joints (known as bell crank mechanism), can be identically generated by a triple central joint variant of the same. Particular configurations are identified in which the length of the central lever does not affect the wheel-to-wheel transmission function of the mechanism, permitting a simplified synthesis for the cases in which the maximum stroke of the input member is imposed as a design specification.
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Karditsas, Stylianos, Georgios Savaidis und Michail Malikoutsakis. „Advanced leaf spring design and analysis with respect to vehicle kinematics and durability“. International Journal of Structural Integrity 6, Nr. 2 (13.04.2015): 243–58. http://dx.doi.org/10.1108/ijsi-11-2013-0044.
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Purpose – The purpose of this paper is to provide sound understanding of the mutual interactions of the major leaf spring design parameters and their effects on both the stress behavior of the designed leaf and the steering behavior of the vehicle. Design/methodology/approach – Finite elements analyses have been performed referring to the design of a high performance monoleaf spring used for the suspension of the front axle of a serial heavy truck. Design parameters like eye type, eye lever, spring rate and arm rate difference have been parametrically examined regarding the stress performance and their influence on the wheel joint kinematics. The effect of each design parameter is exhibited both qualitatively and quantitatively. Findings – Eye lever and eye type affect significantly the wheel joint kinematics and therewith the steering behavior of the vehicle. Spring rate and arm rate difference affect solely the stress performance of the leaf spring. Practical implications – Design engineers may use the outcomes of this research as a guide to achieve optimal leaf spring design ensuring its operational strength in conjunction with accurate steering performance of the vehicle. Originality/value – The international literature contains only few, mostly qualitative data regarding the effect of single design parameters on the leaf spring and the corresponding axle kinematics. The present work contains a comprehensive and systematic study of all major leaf spring design parameters, and reveals their effect on both the stress behavior and the steering behavior of the vehicle qualitatively and quantitatively.
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Asiabar, Aria Noori, und Reza Kazemi. „A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control“. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 233, Nr. 3 (30.01.2019): 549–67. http://dx.doi.org/10.1177/1464419318807700.
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In this paper, a direct yaw moment control algorithm is designed such that the corrective yaw moment is generated through direct control of driving and braking torques of four in-wheel brushless direct current motors located at the empty space of vehicle wheels. The proposed control system consists of a higher-level controller and a lower-level controller. In the upper level of proposed controller, a PID controller is designed to keep longitudinal velocity constant in manoeuvres. In addition, due to probable modelling error and parametric uncertainties as well as adaptation of unknown parameters in control law, an adaptive sliding mode control through adaptation of unknown parameters is presented to yield the corrective yaw moment such that the yaw rate tracks the desired value and the vehicle sideslip angle maintains limited so as to improve vehicle handling stability. The lower-level controller allocates the achieved control efforts (i.e. total longitudinal force and corrective yaw moment) to driving or regenerative braking torques of four in-wheel motors so as to generate the desired tyre longitudinal forces. The additional yaw moment applied by upper-lever controller may saturate the tyre forces. To this end, a novel longitudinal slip ratio controller which is designed based on fuzzy logic is included in the lower-level controller. A tyre dynamic weight transfer-based torque distribution algorithm is employed to distribute the motor driving torque or regenerative braking torque of each in-wheel motor for vehicle stability enhancement. A seven degree-of-freedom non-linear vehicle model with Magic Formula tyre model as well as the proposed control algorithm are simulated in Matlab/Simulink software. Three steering inputs including lane change, double lane change and step-steer manoeuvres in different roads are investigated in simulation environment. The simulation results show that the proposed control algorithm is capable of improving vehicle handling stability and maintaining vehicle yaw stability.
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Kojima, Toshinori, und Pongsathorn Raksincharoensak. „Risk-Sensitive Rear-Wheel Steering Control Method Based on the Risk Potential Field“. Applied Sciences 11, Nr. 16 (09.08.2021): 7296. http://dx.doi.org/10.3390/app11167296.
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Various driving assistance systems have been developed to reduce the number of automobile accidents. However, the control laws of these assistance systems differ based on each situation, and the discontinuous control command value may be input instantaneously. Therefore, a seamless and unified control law for driving assistance systems that can be used in multiple situations is necessary to realize more versatile autonomous driving. Although studies have been conducted on four-wheel steering that steers the rear wheels, these studies considered the role of the rear wheels only to improve vehicle dynamics and not to contribute to autonomous driving. Therefore, in this study, we define the risk potential field as a uniform control law and propose a rear-wheel steering control system that actively steers the rear wheels to contribute to autonomous driving, depending on the level of the perceived risk in the driving situation. The effectiveness of the proposed method is verified by a double lane change test, which is performed assuming emergency avoidance in simulations, and subject experiments using a driving simulator. The results indicate that actively steering the rear wheels ensures a safer and smoother drive while simultaneously improving the emergency avoidance performance.
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Gago-Calderón, Alfonso, Lucia Clavero-Ordóñez, Jose Ramón Andrés-Díaz und Jose Fernández-Ramos. „Hardware Architecture and Configuration Parameters of a Low Weight Electronic Differential for Light Electric Vehicles with Two Independent Wheel Drive to Minimize Slippage“. World Electric Vehicle Journal 10, Nr. 2 (20.05.2019): 23. http://dx.doi.org/10.3390/wevj10020023.
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This article presents a design and performance analysis of an Electronic Differential (ED) system designed for Light Electric Vehicles (LEVs). We have developed a test tricycle vehicle with one front steering wheel and two rear fixed units in the same axis with a brushless DC (BLDC) motor integrated in each of them. Each motor has an independent controller unit and a common electronic Arduino CPU that can plan specific speeds for each wheel as curves are being traced. Different implementations of sensors (input current/torque, steering angle and speed of the wheels) are discussed related to their hardware complexity and performance based on speed level requirements and slipping on the traction wheels. Two driving circuits were generated (slalom and circular routes) and driven at different speeds, monitoring and recording all the related parameters of the vehicle. The most representative graphs obtained are presented. The analysis of these data presents a significant change of the behaviour of the control capability of the ED when the lineal speed of the vehicle makes a change of direction that passes 10 Km/h. In this situation, to obtain good performance of the ED, it is necessary to include sensors related to the wheels.
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Bonera, Emanuele, Marco Gadola, Daniel Chindamo, Stefano Morbioli und Paolo Magri. „On the Influence of Suspension Geometry on Steering Feedback“. Applied Sciences 10, Nr. 12 (23.06.2020): 4297. http://dx.doi.org/10.3390/app10124297.
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Feedback through the steering wheel is known as the most important source of information to the driver. The so-called steering feeling, composed of self-aligning actions coming from tyres and suspension geometry all the way through mechanical linkages to the driver’s hands, provides vital communication for intuitive driving, and it is therefore utterly important for safety and for a pleasant driving experience as well. Subtle forces and vibrations, due to the interaction between the tyre contact patch and the road surface texture, also play a role, provided they are not heavily filtered or cancelled by the power steering system. Human perception is guided by experience in order to establish correlations between steering feedback and vehicle motion in terms of straight-line stability, cornering speed, tyre adhesion and available friction, vehicle balance, and so on. A front-wheel drive car is potentially a critical vehicle from this point of view, especially when the powertrain can deliver large torque figures, and even more so if a limited-slip differential (LSD) or a similar active device is present in order to improve traction capabilities. Any difference between the two wheels in terms of tractive force can result into the so-called torque steer issue, that is to say, a “pulling” sensation on the steering wheel or a shifting of the vehicle from the desired trajectory. This paper analyses the torque steer phenomenon on an all-wheel-drive, full electric sportscar where a significant portion of the torque is transferred to the front axle. The effects of suspension kinematics and the load variation at tyre contact patch level are taken into account. For evaluating the impact of steering feedback, the VI-grade® simulation software is adopted and a test campaign on the professional driving simulator available at the University of Brescia has been carried out in order to understand the impact of steering feedback on driver perception and performance.
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You, S.-S., und S.-K. Jeong. „Vehicle dynamics and control synthesis for four-wheel steering passenger cars“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 212, Nr. 6 (01.06.1998): 449–61. http://dx.doi.org/10.1243/0954407981526109.
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This paper is concerned with the active robust autopilot design of a four-wheel steering vehicle against external disturbances. Firstly, the effect of four-wheel steering and independent wheel torques for lateral/directional and roll motions is modelled by a set of linear models under proper manoeuvring conditions. To enhance the dynamic performance of an automobile system, a mixed H2/H∞ synthesis with pole constraint is designed on the basis of full state feedback applying linear matrix inequality (LMI) theory. For lateral/directional and roll motions, the steering angles are actively controlled by steering wheel angles through the actuator dynamics. The wheel power and braking are also controlled by independent wheel torques. Simulation results indicate that the proposed control approach can achieve predetermined performance (or acceptable level of disturbance attenuation) and stability as well as robustness even when external disturbances are severe. The active 4WS car along with steering and wheel torque control algorithms allows greater manoeuvrability and improved stability in a wide range of uncertainty.
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Tang, Tao, Shuilong He, Mingsong Ye, Enyong Xu und Weiguang Zheng. „Research on a Multinode Joint Vibration Control Strategy for Controlling the Steering Wheel of a Commercial Vehicle“. Shock and Vibration 2020 (04.01.2020): 1–21. http://dx.doi.org/10.1155/2020/7146828.
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The vibration degree of a steering wheel has important reference significance for drivers to evaluate the ride comfort of the whole vehicle. To solve the jitter problem of the steering wheel of a commercial vehicle at idle speed, this work proposes a multinode joint vibration control strategy (MDVC) based on the associated vibration path of the steering wheel. Based on the analysis of the associated vibration transfer paths of the steering wheel, the whole vehicle was divided into a system comprising several nodes. For the decomposed node system, taking the vibration transmission path associated with the target as the research direction, the vibration reduction design of each node system is analyzed step by step. After exploring the possible causes of abnormal vibration of the steering wheel through experimental tests, the abnormal node structure interval was determined. By further extracting the structural model of the steering system from the vehicle, the hammering method was applied to test its modal and related frequency. Furthermore, an improved structure of steering support was also designed, and its fitting degree and modal characteristics were analyzed and compared to the original scheme. The following test results show that the structure improvement greatly reduces the vibration level of the steering wheel, meets the ideal design requirements of the steering wheel vibration reduction, and provides the possibility of weighing the correlation between these hierarchical node systems in whole vehicle.
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Hur, Hyunmoo, Yujeong Shin und Dahoon Ahn. „Analysis on Steering Performance of Active Steering Bogie According to Steering Angle Control on Curved Section“. Applied Sciences 10, Nr. 12 (26.06.2020): 4407. http://dx.doi.org/10.3390/app10124407.
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In this paper, prior to the commercialization of a developed active steering bogie, we want to analyze steering performance experimentally according to steering angle level with the aim of obtaining steering performance data to derive practical design specifications for a steering system. In other words, the maximum steering performance can be obtained by controlling the steering angle at the 100% level of the target steering angle, but it is necessary to establish the practical control range in consideration of the steering system cost increase, size increase, and consumer steering performance requirements and commercialize. The steering control test using the active steering bogie was conducted in the section of the steep curve with a radius of curvature of R300, and steering performance such as bogie angle, wheel lateral force, and derailment coefficient were analyzed according to the steering angle level. As the steering angle level increased, the bogie indicated that it was aligned with the radial steering position, and steering performance such as wheel lateral force and derailment coefficient was improved. The steering control at 100% level of the target steering angle can achieve the highest performance of 83.6% reduction in wheel lateral force, but it can be reduced to about one-half of the conventional bogie at 25% level control and about one-third at 50% level. Considering cost rise by adopting the active steering system, this result can be used as a very important design indicator to compromise steering performance and cost rise issues in the design stage of the steering system from a viewpoint of commercialization. Therefore, it is expected that the results of the steering performance experiment according to the steering angle level in this paper will be used as very useful data for commercialization.
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Endo, Gen, und Shigeo Hirose. „Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –“. Journal of Robotics and Mechatronics 12, Nr. 5 (20.10.2000): 559–66. http://dx.doi.org/10.20965/jrm.2000.p0559.
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We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.
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Liu, Yong Chen, und Li Sun. „Steering Wheel Angle Pulse Input Simulation and Evaluation of a Car Based on ADAMS“. Advanced Materials Research 383-390 (November 2011): 7461–64. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.7461.
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Vehicle’s steering wheel angle pulse input performance was an representative test of handling and stability, it characterizes vehicle’s handling and stability by the transient response of the steering wheel angle pulse input. Taking a car for example, in the ADAMS software, vehicle dynamics model was established. According to GB/T6323.3—94 standards, the steering wheel angle pulse input virtual test was carried out, and then applied the QC/T 480—1999 limit vehicle handling and stability indices and assessment methods to evaluate the results of the simulation, the result is 66.2247 points, among that, the resonant peak level is 36.0973 points, indicating the vehicle's steering transient response ability is poor, should be improved.
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TOTH, Constantin Silviu, und Silviu Dănuți MĂCUȚĂ. „REVIEW ON THE FATIGUE BEHAVIOR OF THE WHEELS OF RAILWAY VEHICLES IN CONTACT WITH RAIL“. Mechanical Testing and Diagnosis 9, Nr. 4 (15.01.2020): 5–11. http://dx.doi.org/10.35219/mtd.2019.4.01.
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Rail transport is essential to the EU's strategy for a more sustainable transport sector, economic and social cohesion and connecting Europeans at and between each Member State. EU trend is to support the railway sector as a clean, main mode of transport at European level. The European rail system carries around 1.6 billion tones of freight and 9 billion passengers each year. The railway sector has a substantial contribution to the EU economy, directly employing over 1 million people. With the technological evolution of railway vehicles, it is important to focus on safety issues. Wheels are one of the most critical components of railway vehicles, as their failure can lead to derailment. Therefore, an exact project on the control of the problem of wheel fatigue and knowledge of the effective parameters on their life, can improve the life of the whole structure. Due to the fact that the nature of the loads applied to the wheels is repeated, fatigue is very common mechanism of damage that can occur in several ways, such as: nucleation and growth of fatigue cracks, spalling, shelling, and so forth. The main sources of these phenomena are the rolling contact loads, the thermal loads between the wheel-rail and the wheel-brake block, created in the braking phase, the presence of structural defects in the wheel material; it follows that they cannot be omitted in a rigorous design. Increasing of speed aggravates these factors and exacerbates the problem of thermal fatigue of the wheels. In this paper we present a series of studies that focused on the wear of the wheels of railway vehicles in contact with the steering track (rail) to fatigue.
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Ishak, Mohd Razmi, Abd Rahim Abu Bakar, Subki Shamsudin, Muhammad Husaini Maskak und Mohd Kameil Abdul Hamid. „Experimental Investigation of Low Speed Disc Brake Judder Vibration“. Applied Mechanics and Materials 471 (Dezember 2013): 25–29. http://dx.doi.org/10.4028/www.scientific.net/amm.471.25.
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Brake judder is defined as disc or drum deformation-induced vibration which typically occurs at frequency less than 200 Hz. There are two types of brake judder namely, low speed (cold) judder and high speed (hot) judder. These two types of judder are often causing the brake pedal, steering wheel, suspension or chassis to vibrate. Consequently, it will affect comfort level of the driver and passengers. This paper focuses on the experimental investigation of low speed brake judder. In doing so, a laboratory test rig consists of disc brake unit, steering and suspension systems was used to assess level of brake judder vibration at different wheel turning angles. It was found that brake judder generated slightly high vibration at the steering wheel in the axial direction which led to a little uncomfortable feeling to the driver.
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Hartono, Rodi, und Gyan Aditiya Firdaus. „Implementation of Intelligent Fire Extinguisher Robots with Multi Independent Steering“. Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan 6, Nr. 2 (25.10.2018): 35–46. http://dx.doi.org/10.34010/telekontran.v6i2.3798.
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Abstract - Robot technology appears to ease human work. With devices such as fire fighting robots, rescue robots, surveillance robots, and robots whose functions differ according to field needs. In this paper, we have the idea of implementing an intelligent fire extinguisher robot with multi-independent steering that can be directed to the location of the fire to find the source of hotspots. With multi-independent steering, the wheels on the robot can navigate and move swiftly on each wheel that moves in all directions. In this paper we simulate by searching for candles as a source of hotspots. When this robot finds a source of fire, this robot will turn off the candle or source of the fire automatically. This robot contains the following functional components: ultrasonic to find out the surrounding field, a light sensor to look for sources of hotspots or light sources, and a fan to turn off the candle or the point of fire. In terms of design, although the designs of robots are minimalist and small, they provide protection at high temperatures, excellent waterproof when exposed to water spray, and a high impact resistance. As well as creating an automatic robot that aims to find a way automatically to find the presence of hotspots on the fire field without being controlled. This study aims to provide an automatic fire extinguisher system that can help and lighten the fire extinguishing profession which has a high level of risk in its operation. The results of this study will be able to create an intelligent robot that can minimize the risk of the work of a fire extinguisher profession with a multi-independent steering method. By using this method the steering system where each wheel can move freely. With this steering system the robot can move freely in all directions and is a type of holomonic motionKeyword : Fire extinguisher robot, robotic system, portable evacuation guide, multi-independent steering
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Moussa, Mohamed, Adel Moussa und Naser El-Sheimy. „Steering Angle Assisted Vehicular Navigation Using Portable Devices in GNSS-Denied Environments“. Sensors 19, Nr. 7 (04.04.2019): 1618. http://dx.doi.org/10.3390/s19071618.
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Recently, land vehicle navigation, and especially by the use of low-cost sensors, has been the object of a huge level of research interest. Consumer Portable Devices (CPDs) such as tablets and smartphones are being widely used by many consumers all over the world. CPDs contain sensors (accelerometers, gyroscopes, magnetometer, etc.) that can be used for many land vehicle applications such as navigation. This paper presents a novel approach for estimating steering wheel angles using CPD accelerometers by attaching CPDs to the steering wheel. The land vehicle change of heading is then computed from the estimated steering wheel angle. The calculated change of heading is used to update the navigation filter to aid the onboard Inertial Measurement Unit (IMU) through the use of an Extended Kalman Filter (EKF) in GNSS-denied environments. Four main factors that may affect the steering wheel angle accuracy are considered and modeled during steering angle estimations: static onboard IMU leveling, inclination angle of the steering wheel, vehicle acceleration, and vehicle inclination. In addition, these factors are assessed for their effects on the final result. Therefore, three methods are proposed for steering angle estimation: non-compensated, partially-compensated, and fully-compensated methods. A road experimental test was carried out using a Pixhawk (PX4) navigation system, iPad Air, and the OBD-II interface. The average Root Mean Square Error (RMSE) of the change of heading estimated by the proposed method was 0.033 rad/s. A navigation solution was estimated while changes of heading and forward velocity updates were used to aid the IMU during different GNSS signal outages. The estimated navigation solution is enhanced when applying the proposed updates to the navigation filter by 91% and 97% for 60 s and 120 s of GNSS signal outage, respectively, compared to the IMU standalone solution.
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Mao, Xu, Xin Wang, Jun Chao Zhang, Kai Chen, Jiang Zhao und Yu Zhang. „Design of Electric Orchard Vehicle Four-Wheel Steering Control System“. Advanced Materials Research 753-755 (August 2013): 1966–69. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.1966.
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Nowadays, the operation of orchard vehicle which is used in China has the disadvantages such as single function poor automation level etc. Therefore, it can hardly adapt to the complex environment in orchard. The electric vehicle that powered by electrical drive motor can not only save energy, but also achieve the goal of controlling more conveniently and efficiently. Some electrical vehicles in China can take a variety of steering modes. However, most orchard vehicles lack of targeted terrain design. Electric four-wheel independent drive and steering vehicles have strongly strengthened this weakness. This paper uses four-wheel independent drive & four-wheel independent steering structure and completes the design of the control system. The aim is to achieve five different orchard vehicle driving modes which based on microcontroller system, real-time feedback and achieve differential speed calculating model through the multi-channel sensor in the steering modes. Thus, it can ensure the slip angle within the allowable range and driving stability. It also proposes the design & manufacturing of wireless remote control device and operation panel in order to simplify drivers operation and increase the efficiency.
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Wang, Yaxiong, Feng Kang, Taipeng Wang und Hongbin Ren. „A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer“. Shock and Vibration 2018 (2018): 1–11. http://dx.doi.org/10.1155/2018/8197941.
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In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamics-based approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.
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Jackson, Lyle T., Matthew C. Crisler, Stephanie L. Tanner, Johnell O. Brooks und Kyle J. Jeray. „Effects of Upper Extremity Immobilization and Use of a Spinner Knob on Vehicle Steering“. HAND 12, Nr. 6 (19.10.2016): 597–605. http://dx.doi.org/10.1177/1558944716675133.
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Background: A person’s ability to safely drive while immobilized is not well defined. Steering ability with a spinner knob during immobilization is unknown. The goal of this study is to further clarify the effect of immobilization on steering reaction time and accuracy with and without a steering wheel spinner knob. Methods: Twenty participants were enrolled in this crossover trial using a driving simulator with an automatic transmission. Five conditions were tested in a counterbalanced order. Steering reaction time and accuracy (number of errors on a dynamic steering task at 2 difficulty levels) were measured. Participants were allowed to steer with the immobilized extremity. Results: No significant differences in reaction time were observed between any conditions. Both immobilized conditions and difficulty level of the steering task led to diminished accuracy compared with controls, resulting in significantly more errors. The use of a spinner knob significantly improved the accuracy for the condition with the sugar-tong splint during the easier steering task, but this improvement was not observed in the harder steering task. There were no differences between conditions based on gender or observed use of the immobilized arm. Conclusions: Immobilization had a negative effect on steering accuracy for both the wrist splint and the sugar-tong splint condition, which may negatively impact driving ability of immobilized patients. Immobilization, regardless of spinner knob use, did not significantly impact steering reaction time. The steering wheel spinner knob did not consistently improve accuracy, and further study is needed to determine its utility.
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Hyuc Ko, Min, Kyoung Chul Kim, Abhijit Suprem, N. Prem Mahalik und Boem Sahng Ryuh. „4WD mobile robot for autonomous steering using single camera based vision system“. International Journal of Intelligent Unmanned Systems 2, Nr. 3 (05.08.2014): 168–82. http://dx.doi.org/10.1108/ijius-06-2014-0005.
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Purpose – The purpose of this paper is to demonstrate System-of-Systems (SoS) approach to design and development of unmanned robotic platform for greenhouse agricultural application. Design/methodology/approach – SoS design approach is important in developing engineering products. It was observed that while system integration considers designs in a multi-disciplinary level framework, SoS is viewed as a solution focussed approach. In this paper, the authors have demonstrated SoS approach to develop a mobile robot platform. The wheels of the platform are independently controlled by using brushless DC and stepper motors based on fieldbus type Distributed Control System scheme. Findings – The constraints for autonomous traveling were identified during the first phase followed by development of 12 distinct sub-routines during second phase of training. Optimal camera installation angle, driving speeds, steering angle per pixel were found to be valuable constraints for feed-forward parameters for real-time driving. The platform was field tested in a tomato planted greenhouse for yield and weed mapping. Research limitations/implications – The paper focusses on studying vision-based autonomous four-wheel-drive (4WD) constraints and their implementation limitations. Practical implications – The platform was field tested in a tomato planted greenhouse for yield and weed mapping. Social implications – The platform can be used for agricultural operations such as crop scouting, monitoring, spraying, and mapping in a medium to large-scale greenhouse setting. Originality/value – The research and presentation is original. Starting from its mechanical specification to wheel performance study, development of path patterns for training and global navigation algorithm for testing and validation were achieved. The platform can autonomously be driven without any manual intervention.
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Zhang, Jiaxu, und Jing Li. „Integrated vehicle chassis control for active front steering and direct yaw moment control based on hierarchical structure“. Transactions of the Institute of Measurement and Control 41, Nr. 9 (15.10.2018): 2428–40. http://dx.doi.org/10.1177/0142331218801131.
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This paper presents an integrated vehicle chassis control (IVCC) strategy to improve vehicle handling and stability by coordinating active front steering (AFS) and direct yaw moment control (DYC) in a hierarchical way. In high-level control, the corrective yaw moment is calculated by the fast terminal sliding mode control (FTSMC) method, which may improve the transient response of the system, and a non-linear disturbance observer (NDO) is used to estimate and compensate for the model uncertainty and external disturbance to suppress the chattering of FTSMC. In low-level control, the null-space-based control reallocation method and inverse tyre model are utilized to transform the corrective yaw moment to the desired longitudinal slips and the steer angle increment of front wheels by considering the constraints of actuators and friction ellipse of each wheel. Finally, the performance of the proposed control strategy is verified through simulations of various manoeuvres based on vehicle dynamic software CarSim.
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Chen, Xinbo, Mingyang Wang und Wei Wang. „Unified Chassis Control of Electric Vehicles Considering Wheel Vertical Vibrations“. Sensors 21, Nr. 11 (07.06.2021): 3931. http://dx.doi.org/10.3390/s21113931.
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In the process of vehicle chassis electrification, different active actuators and systems have been developed and commercialized for improved vehicle dynamic performances. For a vehicle system with actuation redundancy, the integration of individual chassis control systems can provide additional benefits compared to a single ABS/ESC system. This paper describes a Unified Chassis Control (UCC) strategy for enhancing vehicle stability and ride comfort by the coordination of four In-Wheel Drive (IWD), 4-Wheel Independent Steering (4WIS), and Active Suspension Systems (ASS). Desired chassis motion is determined by generalized forces/moment calculated through a high-level sliding mode controller. Based on tire force constraints subject to allocated normal forces, the generalized forces/moment are distributed to the slip and slip angle of each tire by a fixed-point control allocation algorithm. Regarding the uneven road, H∞ robust controllers are proposed based on a modified quarter-car model. Evaluation of the overall system was accomplished by simulation testing with a full-vehicle CarSim model under different scenarios. The conclusion shows that the vertical vibration of the four wheels plays a detrimental role in vehicle stability, and the proposed method can effectively realize the tire force distribution to control the vehicle body attitude and driving stability even in high-demanding scenarios.
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McManus, Wyatt, und Jing Chen. „The Effects of Vehicle Level Of Automation and Warning Type on Responses to Vehicle Hacking“. Proceedings of the Human Factors and Ergonomics Society Annual Meeting 63, Nr. 1 (November 2019): 1977. http://dx.doi.org/10.1177/1071181319631363.
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Modern surface transportation vehicles often include different levels of automation. Higher automation levels have the potential to impact surface transportation in unforeseen ways. For example, connected vehicles with higher levels of automation are at a higher risk for hacking attempts, because automated driving assistance systems often rely on onboard sensors and internet connectivity (Amoozadeh et al., 2015). As the automation level of vehicle control rises, it is necessary to examine the effect different levels of automation have on the driver-vehicle interactions. While research into the effect of automation level on driver-vehicle interactions is growing, research into how automation level affects driver’s responses to vehicle hacking attempts is very limited. In addition, auditory warnings have been shown to effectively attract a driver’s attention while performing a driving task, which is often visually demanding (Baldwin, 2011; Petermeijer, Doubek, & de Winter, 2017). An auditory warning can be either speech-based containing sematic information (e.g., “car in blind spot”) or non-sematic (e.g., a tone, or an earcon), which can influence driver behaviors differently (Sabic, Mishler, Chen, & Hu, 2017). The purpose of the current study was to examine the effect of level of automation and warning type on driver responses to novel critical events, using vehicle hacking attempts as a concrete example, in a driving simulator. The current study compared how level of automation (manual vs. automated) and warning type (non-semantic vs. semantic) affected drivers’ responses to a vehicle hacking attempt using time to collision (TTC) values, maximum steering wheel angle, number of successful responses, and other measures of response. A full factorial between-subjects design with the two factors made four conditions (Manual Semantic, Manual Non-Semantic, Automated Semantic, and Automated Non-Semantic). Seventy-two participants recruited using SONA ( odupsychology.sona-systems.com ) completed two simulated drives to school in a driving simulator. The first drive ended with the participant safely arriving at school. A two-second warning was presented to the participants three quarters of the way through the second drive and was immediately followed by a simulated vehicle hacking attempt. The warning either stated “Danger, hacking attempt incoming” in the semantic conditions or was a 500 Hz sine tone in the non-semantic conditions. The hacking attempt lasted five seconds before simulating a crash into a vehicle and ending the simulation if no intervention by the driver occurred. Our results revealed no significant effect of level of automation or warning type on TTC or successful response rate. However, there was a significant effect of level of automation on maximum steering wheel angle. This is a measure of response quality (Shen & Neyens, 2017), such that manual drivers had safer responses to the hacking attempt with smaller maximum steering wheel angles. In addition, an effect of warning type that approached significance was also found for maximum steering wheel angle such that participants who received a semantic warning had more severe and dangerous responses to the hacking attempt. The TTC and successful response results from the current experiment do not match those in the previous literature. The null results were potentially due to the warning implementation time and the complexity of the vehicle hacking attempt. In contrast, the maximum steering wheel angle results indicated that level of automation and warning type affected the safety and severity of the participants’ responses to the vehicle hacking attempt. This suggests that both factors may influence responses to hacking attempts in some capacity. Further research will be required to determine if level of automation and warning type affect participants ability to safely respond to vehicle hacking attempts. Acknowledgments. We are grateful to Scott Mishler for his assistance with STISIM programming and Faye Wakefield, Hannah Smith, and Pettie Perkins for their assistance in data collection.
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Liang, Yixiao, Yinong Li, Ling Zheng, Yinghong Yu und Yue Ren. „Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, Nr. 1 (15.07.2020): 260–72. http://dx.doi.org/10.1177/0954407020938490.
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The path-following problem for four-wheel independent driving and four-wheel independent steering electric autonomous vehicles is investigated in this paper. Owing to the over-actuated characters of four-wheel independent driving and four-wheel independent steering autonomous vehicles, a novel yaw rate tracking-based path-following controller is proposed. First, according to the kinematic relationships between vehicle and the reference path, the yaw rate generator is designed by linear matrix inequality theory, with the ability to minimize the disturbances caused by vehicle side slip and varying curvature of path. Considering that the path-following objective and dynamics stability are in conflict with each other in some extreme path-following conditions, a coordinating mechanism based on yaw rate prediction is proposed to satisfy the two conflicting objectives. Then, according to the desired yaw rate and longitudinal velocity, a hierarchical structure is introduced for motion control. The upper-level controller calculates the generalized tracking forces while the allocation layer optimally distributes the generalized forces to tires considering tire vertical load and adhesive utilization. Finally, simulation results indicate that the proposed method can achieve excellent path-following performances in different driving conditions, while both path-following objective and dynamics stability can be satisfied.
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Zhang, Zhonghua, Caijin Yang, Weihua Zhang, Yanhai Xu, Yiqiang Peng und Maoru Chi. „Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models“. Shock and Vibration 2021 (15.01.2021): 1–13. http://dx.doi.org/10.1155/2021/8861159.
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This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.
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Satti, Afraiz Tariq, Jiyoun Kim, Eunsurk Yi, Hwi-young Cho und Sungbo Cho. „Microneedle Array Electrode-Based Wearable EMG System for Detection of Driver Drowsiness through Steering Wheel Grip“. Sensors 21, Nr. 15 (27.07.2021): 5091. http://dx.doi.org/10.3390/s21155091.
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Driver drowsiness is a major cause of fatal accidents throughout the world. Recently, some studies have investigated steering wheel grip force-based alternative methods for detecting driver drowsiness. In this study, a driver drowsiness detection system was developed by investigating the electromyography (EMG) signal of the muscles involved in steering wheel grip during driving. The EMG signal was measured from the forearm position of the driver during a one-hour interactive driving task. Additionally, the participant’s drowsiness level was also measured to investigate the relationship between muscle activity and driver’s drowsiness level. Frequency domain analysis was performed using the short-time Fourier transform (STFT) and spectrogram to assess the frequency response of the resultant signal. An EMG signal magnitude-based driver drowsiness detection and alertness algorithm is also proposed. The algorithm detects weak muscle activity by detecting the fall in EMG signal magnitude due to an increase in driver drowsiness. The previously presented microneedle electrode (MNE) was used to acquire the EMG signal and compared with the signal obtained using silver-silver chloride (Ag/AgCl) wet electrodes. The results indicated that during the driving task, participants’ drowsiness level increased while the activity of the muscles involved in steering wheel grip decreased concurrently over time. Frequency domain analysis showed that the frequency components shifted from the high to low-frequency spectrum during the one-hour driving task. The proposed algorithm showed good performance for the detection of low muscle activity in real time. MNE showed highly comparable results with dry Ag/AgCl electrodes, which confirm its use for EMG signal monitoring. The overall results indicate that the presented method has good potential to be used as a driver’s drowsiness detection and alertness system.
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Makarov, Vladimir, Yuriy Molev, Dimitriy Proshin und Maksim Cherevastov. „Response of Motor Vehicles, Front and Rear Axles of Which Are Fitted with Different Tires. Main Aspects“. MATEC Web of Conferences 329 (2020): 01012. http://dx.doi.org/10.1051/matecconf/202032901012.
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This work shows the modelling of change of such a controllability indicator as the stabilization time, using the design model of a vehicle with tires of different stiffness on the front and rear axles. The influence of the change in the lateral slip resistance coefficient of the front and rear wheels of the vehicle on the safe speed at which the stabilization reaction of the vehicle to the steering wheel turn will be aperiodic monotonic rather than oscillating, is established. The dependences of the magnitude of the stabilization time on the degree of change in the lateral slip resistance coefficient of the front and rear wheels, are obtained. The limiting values of the change in the parameters of the wheels providing the specified parameters of controllability which ensure acceptable road traffic safety level, are established. It is established that the maximum impact on the deterioration of the response of vehicle is exerted by the wheels design. On the other hand, their geometric dimensions have little to no road traffic safety impact. Based on the research carried out, it is necessary to conclude that in order to ensure road traffic safety, it is necessary to stop using the tires with different designs on different axles of the vehicle. Herewith, the pressure in the tires of the vehicle must not be less than the values set by the manufacturer. The results obtained are of interest to employees of institutions monitoring traffic indicators and technical condition of vehicles as well as carrying out road accident reviews.
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Shaikh, Khurram, Imtiaz Hussain Kalwer, Khakoo Mal und Bhawani Shanker Chowdhry. „Signal Based Indirect Wheel Profile Estimation Technique for Solid Axle Railway Wheelset“. April 2021 40, Nr. 2 (01.04.2021): 443–49. http://dx.doi.org/10.22581/muet1982.2102.18.
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Wheel profile is a very important factor that helps the steering performance of the railway vehicle. However, during the operation, the wheel profile tends to vary inconsistently due to frictional contact at wheel-rail interface. This paper focuses on the problem of railway wheelset profile and its alteration that affects the performance of railway vehicle. Signal-based indirect estimation technique using Fast Fourier Transform (FFT) is proposed to establish a relationship between dynamic response of vehicle and wheel profile. It is observed that changes in wheel profile has direct impact on the frequency of lateral dynamics. The effect of vehicle speed is also analyzed on the yaw and lateral motions of the wheelset. The effectiveness of the proposed technique in determining the relationship between the frequency of the oscillation and conicity level of the solid axle railway wheelset is demonstrated by developing simulation model in MATLAB and Simulink.
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Barthelmes, Stefan, und Ulrich Konigorski. „Model-based chassis control system for an over-actuated planetary exploration rover“. at - Automatisierungstechnik 68, Nr. 1 (28.01.2020): 58–71. http://dx.doi.org/10.1515/auto-2019-0090.
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AbstractIn planetary exploration, wheeled mobile robots (rovers) are popular for extending action range compared to a lander. Despite their success, they continue to struggle with soft grounds which shows in high sinkage and can lead to an immobilization in the worst case. Rovers usually are over-actuated due to individual wheel drives and steering, which is rarely made use of in current missions. Some work optimizing the resulting degrees of freedom exists but often does not use all available model knowledge. In this work, the rover is consequently modeled with the subsystems rigid body dynamics, kinematics and wheel/ground dynamics. Feedback linearization is used for the rigid body and the underlying wheel/ground controllers on individual wheel level. The control allocation of the forces is done via the pseudo-inverse and a base of the null-space to extract the available degrees of freedom. A verification of the approach is shown in a co-simulation with a high-fidelity model of the ExoMars rover.
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He, Zhiwei, Linzhen Nie, Zhishuai Yin und Song Huang. „A Two-Layer Controller for Lateral Path Tracking Control of Autonomous Vehicles“. Sensors 20, Nr. 13 (01.07.2020): 3689. http://dx.doi.org/10.3390/s20133689.
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This paper presents a two-layer controller for accurate and robust lateral path tracking control of highly automated vehicles. The upper-layer controller, which produces the front wheel steering angle, is implemented with a Linear Time-Varying MPC (LTV-MPC) whose prediction and control horizon are both optimized offline with particle swarm optimization (PSO) under varying working conditions. A constraint on the slip angle is imposed to prevent lateral forces from saturation to guarantee vehicle stability. The lower layer is a radial basis function neural network proportion-integral-derivative (RBFNN-PID) controller that generates electric current control signals executable by the steering motor to rapidly track the target steering angle. The nonlinear characteristics of the steering system are modeled and are identified on-line with the RBFNN so that the PID controller’s control parameters can be adjusted adaptively. The results of CarSim-Matlab/Simulink joint simulations show that the proposed hierarchical controller achieves a good level of path tracking accuracy while maintaining vehicle stability throughout the path tracking process, and is robust to dynamic changes in vehicle velocities and road adhesion coefficients.
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Hou, Rufei, Li Zhai und Tianmin Sun. „Steering Stability Control for a Four Hub-Motor Independent-Drive Electric Vehicle with Varying Adhesion Coefficient“. Energies 11, Nr. 9 (14.09.2018): 2438. http://dx.doi.org/10.3390/en11092438.
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In order to enhance the steering stability of a four hub-motor independent-drive electric vehicle (4MIDEV) on a road with varying adhesion coefficient, for example on a joint road, this paper proposes a hierarchical steering stability control strategy adapted to the road adhesion. The upper control level of the proposed strategy realizes the integrated control of the sideslip angle and yaw rate in the direct yaw moment control (DYC), where the influences of the road adhesion and sideslip angle are both studied by the fuzzy control. The lower control level employs a weight-based optimal torque distribution algorithm in which weight factors for each motor torque are designed to accommodate different adhesion of each wheel. The proposed stability control strategy was validated in a co-simulation of the Carsim and Matlab/Simulink platforms. The results of double-lane-change maneuver simulations under different conditions indicate that the proposed strategy can effectively achieve robustness to changes in the adhesion coefficient and improve the steering stability of the 4MIDEV.
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Kwon, Baek-soon, Young-jin Hyun und Kyongsu Yi. „Mode control of electro-mechanical suspension systems for vehicle height, levelling and ride comfort“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, Nr. 2-3 (06.06.2019): 792–809. http://dx.doi.org/10.1177/0954407019851028.
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This paper proposes a mode control algorithm of electro-mechanical suspension for vehicle height, attitude control and improvement of ride quality. The proposed control algorithm consists of mode selector, upper-level and lower-level controllers, and suspension state estimator. The mode selector determines the present driving mode using vehicle signals, such as longitudinal speed, steering wheel angle, accelerator pedal position, brake pedal position and vertical acceleration of wheels. The upper-level controller determines the desired suspension state using the present driving mode. The lower-level controller derives the desired stroke speed of the actuator in each suspension by linear quadratic control theory. The suspension state estimator has been designed using accessible sensor measurement by discrete-time Kalman filter theory. The control and estimation algorithms have been developed based on a novel reduced-order vehicle model that includes only the vehicle body dynamics. The model enables the observer to completely remove the effect of unknown road disturbance on the estimation error. The performance of the proposed control algorithm has been evaluated via computer simulation study. The simulation results show that the proposed control algorithm is effective at controlling the electro-mechanical suspension systems. The paper also shows that the considered actuator is suited for vehicle height and levelling control, but not for improvement of ride comfort, due to voltage input constraints.
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Ren, Chuan Bo, Cui Cui Zhang und Lin Liu. „Influences of the Front Wheel Steering Angle on Vehicle Handling and Stability“. Applied Mechanics and Materials 195-196 (August 2012): 41–46. http://dx.doi.org/10.4028/www.scientific.net/amm.195-196.41.
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In this paper, motion differential equation of the two degrees of freedom (2-DOF) vehicle is established based on the linear two degrees of freedom vehicle model and is derived without simplifying the front wheel steering angle (FWSA), then we analyze the vehicle's steady-state response , transient response and the amplitude-frequency characteristic of yaw velocity under different FWSA with the help of the matlab software and finally compare the results with the simplified ones to determine how the FWSA influences the level of the vehicle handling and stability (VHS). The results show that: while the FWSA is small, it has a less influence on vehicle handling and stability, the FWSA is large, it has a greater influence on vehicle handling and stability.
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Borrero-Guerrero, Henry, Rafael Bueno-Sampaio und Marcelo Becker. „Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot“. Lámpsakos, Nr. 7 (16.06.2012): 31. http://dx.doi.org/10.21501/21454086.842.
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This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.
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Ajovalasit, M., und J. Giacomin. „Human subjective response to steering wheel vibration caused by diesel engine idle“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 219, Nr. 4 (01.04.2005): 499–510. http://dx.doi.org/10.1243/095440705x11167.
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This study investigated the human subjective response to steering wheel vibration of the type caused by a four-cylinder diesel engine idle in passenger cars. Vibrotactile perception was assessed using sinusoidal amplitude-modulated vibratory stimuli of constant energy level (r.m.s. acceleration, 0.41 m/s2) having a carrier frequency of 26 Hz (i.e. engine firing frequency) and modulation frequency of 6.5 Hz (half-order engine harmonic). Evaluations of seven levels of modulation depth parameter m(0.0, 0.1, 0.2, 0.4, 0.6, 0.8, and 1.0) were performed in order to define the growth function of human perceived disturbance as a function of amplitude modulation depth. Two semantic descriptors were used (unpleasantness and roughness) and two test methods (the Thurstone paired-comparison method and the Borg CR-10 direct evaluation scale) for a total of four tests. Each test was performed using an independent group of 25 individuals. The results suggest that there is a critical value of modulation depth m = 0.2 below which human subjects do not perceive differences in amplitude modulation and above which the stimulus-response relationship increases monotonically with a power function. The Stevens power exponents suggest that the perceived unpleasantness is non-linearly dependent on modulation depth m with an exponent greater than 1 and that the perceived roughness is dependent with an exponent close to unity.
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Arefnezhad, Sadegh, Sajjad Samiee, Arno Eichberger und Ali Nahvi. „Driver Drowsiness Detection Based on Steering Wheel Data Applying Adaptive Neuro-Fuzzy Feature Selection“. Sensors 19, Nr. 4 (22.02.2019): 943. http://dx.doi.org/10.3390/s19040943.
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This paper presents a novel feature selection method to design a non-invasive driver drowsiness detection system based on steering wheel data. The proposed feature selector can select the most related features to the drowsiness level to improve the classification accuracy. This method is based on the combination of the filter and wrapper feature selection algorithms using adaptive neuro-fuzzy inference system (ANFIS). In this method firstly, four different filter indexes are applied on extracted features from steering wheel data. After that, output values of each filter index are imported as inputs to a fuzzy inference system to determine the importance degree of each feature and select the most important features. Then, the selected features are imported to a support vector machine (SVM) for binary classification to classify the driving conditions in two classes of drowsy and awake. Finally, the classifier accuracy is exploited to adjust parameters of an adaptive fuzzy system using a particle swarm optimization (PSO) algorithm. The experimental data were collected from about 20.5 h of driving in the simulator. The results show that the drowsiness detection system is working with a high accuracy and also confirm that this method is more accurate than the recent available algorithms.
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Shulyak, Mikhail, Oksana Pankova, Ivan Kolesnik, Kirill Sirovitskiy und Evgen Gaek. „Usage of information technologies for increasing quality of transport operations“. SHS Web of Conferences 67 (2019): 05002. http://dx.doi.org/10.1051/shsconf/20196705002.
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Among the whole cycle of interconnected technological operations for crop and livestock production, transport operations play a significant part: transportation of seed grain, forage, fertilizers, product transportation to storage and selling places. Transport operations account for 15-25% of the production cost. According to the analysis of recent research, the development and introduction of new methods for ensuring the quality and safety of production. For a tractor on transport works the task of increasing the functional precision at which it is solved its deviation from the roadway configuration (traffic corridor) during the movement is assessed. In this case the problem for short-term one-time and repeated, long-term discrete and continuous impact of the driver on the tractor steering control is solved. For these operating modes of a tractor during transport works, the methodology of functional stability providing of a hydro-level steering control is substantiated. Based on the reasoned analytical model of the tractor spin during transport works, an express method of diagnosing the technical state of the tractor steering has been elaborated. It is based on the comparison of the angular accelerations of the tractor and the steering wheel when the motion direction is changed or adjusted.
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Tan, Di, Haitao Wang und Qiang Wang. „Study on the Rollover Characteristic of In-Wheel-Motor-Driven Electric Vehicles Considering Road and Electromagnetic Excitation“. Shock and Vibration 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/2450573.
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For in-wheel-motor-driven electric vehicles, the motor is installed in the wheel directly. Tyre runout and uneven load can cause magnet gap deformation in the motor, which will produce electromagnetic forces that further influence the vehicle rollover characteristics. To study the rollover characteristics, a verified 16-degree-of-freedom rollover dynamic model is introduced. Next, the vehicle rollover characteristics both with and without electromagnetic force are analyzed under conditions of the Fixed Timing Fishhook steering and grade B road excitation. The results show that the electromagnetic force has a certain effect on the load transfer and can reduce the antirollover performance of the vehicle. Therefore, the effect of the electromagnetic force on the rollover characteristic should be considered in the vehicle design. To this end, extensive analysis was conducted on the effect of the road level, vehicle speed, and the road adhesion coefficient on the vehicle rollover stability. The results indicate that vehicle rollover stability worsens when the above-mentioned factors increase, the most influential factor being the road adhesion coefficient followed by vehicle speed and road level. This paper can offer certain theory basis for the design of the in-wheel-motor-driven electric vehicles.
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Zhang, Wenjun, Zhuxing Liu und Qingzhang Chen. „Electronic Differential System Based on Adaptive SMC Combined with QP for 4WID Electric Vehicles“. World Electric Vehicle Journal 12, Nr. 3 (20.08.2021): 126. http://dx.doi.org/10.3390/wevj12030126.
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This study investigates an adaptive differential control system for 4WID (4-wheel-independent-drive) electric vehicles. The novel adaptive system will maneuver the independently operating hub motors without the help of any conventional steering mechanism. The control system consists of a hierarchical structure to confront the vehicle stability condition, which includes a novel SMC (sliding mode control) with a fuzzy algorithm parameter modification to achieve the required virtual control signal at the top level, and a quadratic programming-based torque allocation algorithm at the bottom-level controller. The proposed controller was tested through Simulink/Carsim simulation and experiments. All the test cases showed the advantages of the proposed method over some of the currently existing 4WID control strategies.
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Negoita, Olivia Doina, Oana Chivu, Claudiu Babis und Alina Gligor. „Researches on the ergonomic design of the workplace for the car driver profesion“. MATEC Web of Conferences 290 (2019): 12022. http://dx.doi.org/10.1051/matecconf/201929012022.
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Ergonomic design of the workplace is a matter of utmost importance. Ergonomics should consider reducing the high number of accidents as well as the high amounts paid for insurance. In recent years there have been numerous injuries due to cumulative trauma or due to psychological, sociological and ethical factors. Operators often adapt to improper work conditions, but the number of accidents increases and productivity decreases. The driver of the vehicle must be provided with a suitable space and position so that his posture is physiologically comfortable, does not cause excessive fatigue and illness, there is freedom of movement to drive the steering wheel, steering levers and pedals, which must be accessible and placed in such a way that the driver’s requirements are minimal and the visibility is ensured. In the paper there will be presented elements for the ergonomic design of the workplace for the motor vehicle occupation and will be taken into account several factors involved among which we mention the correct positioning of the seat adjustment while driving a car, adjusting the backrest and seat, adjusting the lumbar support, adjusting the steering position, adjusting the headrests to ensure that in the event of an accident, the risk of a head injury is very small.
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Mansfield, Neil J., Judith Ashley und Andrew N. Rimell. „Changes in subjective ratings of impulsive steering wheel vibration due to changes in noise level: a cross-modal interaction“. International Journal of Vehicle Noise and Vibration 3, Nr. 2 (2007): 185. http://dx.doi.org/10.1504/ijvnv.2007.014904.
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Ionut Radu, Alexandru, Corneliu Cofaru, Bogdan Tolea und Dragoş Dima. „Study regarding the influence of airbag deployment time on the occupant injury level during a frontal vehicle collision“. MATEC Web of Conferences 184 (2018): 01007. http://dx.doi.org/10.1051/matecconf/201818401007.
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The aim of this paper was to analyse the influence of airbag deployment delay upon the head of the occupant in the case of frontal collision using simulations in PC Crash and MADYMO dummy as the occupant. The study will also take into account the pretension delay of the seat-belt which is activated along with the airbag. Frontal airbags on both the passenger and the driver were analysed including the occupant kinematics during the collision. Also, to validate the simulation, a comparison was done with a real crash test. We predict that by increasing the delay of deployment, the head acceleration will increase due to the fact the head travels close to the instrument panel/steering wheel, and the force of the airbag will generate a significant acceleration upon the head. To better assess the potential injury of the occupant, the head injury criteria (HIC) will be calculated and correlated with the Abbreviated injury scale (AIS) code.
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Giacomin, J., und Y. J. Woo. „A study of the human ability to detect road surface type on the basis of steering wheel vibration feedback“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 219, Nr. 11 (01.11.2005): 1259–70. http://dx.doi.org/10.1243/095440705x34955.
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A study was performed to investigate the human ability to detect road surface type on the basis of the associated steering wheel vibration feedback. Tangential direction acceleration time histories measured during road testing of a single mid-sized European automobile were used as the basis for the study. Scaled and frequency-filtered copies of two base stimuli were presented to test subjects in a laboratory setting during two experiments that each involved 25 participants. Theory of signal detection (TSD) was adopted as the analytical framework, and the results were summarized by means of the detectability index d' and as receiver operating curve (ROC) points. The results of the experiment to investigate the effect of scaling suggested monotonic relationships between stimulus level and detection for both road surfaces. Detection of the tarmac surface improved with reductions in acceleration level, while the opposite was true of the cobblestone surface. The ROC points for both surfaces were characterized by gradual increases in detectability as a function of acceleration level, obtaining hit rates of nearly 100 per cent at optimum. The results of the experiment to investigate the effect of frequency bandwidth suggested a monotonically increasing relationship between detectability and the bandwidth of the vibration stimuli. Detection of both road surfaces improved with increases in bandwidth. Average hit rates exceeded 80 per cent for stimuli covering the frequency range from 0 to 80 Hz. Human detection of road surface type appears to depend on the long-term memory model, or cognitive interpretation mechanism, associated with each surface. The complexity of the measured response suggests the need to categorize and classify incoming data before an optimal choice of feedback stimuli can be made in automotive steering systems.
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Boyraz, P., M. Acar und D. Kerr. „Multi-sensor driver drowsiness monitoring“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222, Nr. 11 (01.11.2008): 2041–62. http://dx.doi.org/10.1243/09544070jauto513.
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A system for driver drowsiness monitoring is proposed, using multi-sensor data acquisition and investigating two decision-making algorithms, namely a fuzzy inference system (FIS) and an artificial neural network (ANN), to predict the drowsiness level of the driver. Drowsiness indicator signals are selected allowing non-intrusive measurements. The experimental set-up of a driver-drowsiness-monitoring system is designed on the basis of the sought-after indicator signals. These selected signals are the eye closure via pupil area measurement, gaze vector and head motion acquired by a monocular computer vision system, steering wheel angle, vehicle speed, and force applied to the steering wheel by the driver. It is believed that, by fusing these signals, driver drowsiness can be detected and drowsiness level can be predicted. For validation of this hypothesis, 30 subjects, in normal and sleep-deprived conditions, are involved in a standard highway simulation for 1.5h, giving a data set of 30 pairs. For designing a feature space to be used in decision making, several metrics are derived using histograms and entropies of the signals. An FIS and an ANN are used for decision making on the drowsiness level. To construct the rule base of the FIS, two different methods are employed and compared in terms of performance: first, linguistic rules from experimental studies in literature and, second, mathematically extracted rules by fuzzy subtractive clustering. The drowsiness levels belonging to each session are determined by the participants before and after the experiment, and videos of their faces are assessed to obtain the ground truth output for training the systems. The FIS is able to predict correctly 98 per cent of determined drowsiness states (training set) and 89 per cent of previously unknown test set states, while the ANN has a correct classification rate of 90 per cent for the test data. No significant difference is observed between the FIS and the ANN; however, the FIS might be considered better since the rule base can be improved on the basis of new observations.
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Maulida Hakim, Inaki, und Ferdiansyah Pratama Putra. „Evaluation of Four Wheeled Vehicle Student Driver Adaption’s on Right & Left Steering Wheel Through the User Experience Approach“. International Journal of Engineering & Technology 7, Nr. 3.7 (04.07.2018): 117. http://dx.doi.org/10.14419/ijet.v7i3.7.16251.
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The high level of activity that people carry out daily encourage the need for high mobility in the fulfillment of these activities. Vehicles can help to ease people in doing activities so that one's activities can run effectively and efficiently. Every vehicle produced by a vehicle company has a difference in terms of features and systems that are in it, so it causes the vehicle users to have to adapt. In addition, there are other differences in driving position. So this study aims to evaluate the adaptation of four-wheeled vehicle student driver in Indonesia on the right-steering and left-steering vehicle through the user experience approach. This study focus on what factors can influence the adaptation of driver to vehicle differences and differences in driving position. Evaluation is done by giving task to the respondent at the beginning of the drive, during drive and at the end of the drive by looking at the safety factor on activity being done. The methods used are performance metrics, Single Ease Question (SEQ) questionnaire and Questionnaire for User Interface Satisfaction (QUIS). Based on results of the research, there are some errors and time used for respondents in adapting. So in an effort to correct from the error, additional information is given where the information can be useful in adapting.
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Opala, Michał. „Study of the derailment safety index Y/Q of the low-floor tram bogies with different types of guidance of independently rotating wheels“. Archives of Transport 38, Nr. 2 (30.06.2016): 39–47. http://dx.doi.org/10.5604/08669546.1218792.
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Modern tram designs use different conceptions of how to implement the low-floor functionality. The key construction part is the bogie running gear which has to accommodate the lower part of the tram body. To adjust the low-floor level, many low-floor tram bogies have different types of guidance of independently rotating wheels with no central axle between the two wheels. Lack of self-steering mechanism in the form of central axle coupling or an external guiding device creates several inherent problems, such as insufficient guiding and excessive wear. Another important context is the safety against derailment when the vehicle negotiates a curved track. In this study the dynamic behaviour of non-powered bogies with different types of guidance of independently rotating wheels are presented using computer simulation models. The simulation results of the Y/Q index are compared for the two track configurations (curved and tangent sections) and four different kinds of bogie running gear.
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Németh, Balázs. „Coordination of Lateral Vehicle Control Systems Using Learning-Based Strategies“. Energies 14, Nr. 5 (26.02.2021): 1291. http://dx.doi.org/10.3390/en14051291.
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The paper proposes a novel learning-based coordination strategy for lateral control systems of automated vehicles. The motivation of the research is to improve the performance level of the coordinated system compared to the conventional model-based reconfigurable solutions. During vehicle maneuvers, the coordinated control system provides torque vectoring and front-wheel steering angle in order to guarantee the various lateral dynamical performances. The performance specifications are guaranteed on two levels, i.e., primary performances are guaranteed by Linear Parameter Varying (LPV) controllers, while secondary performances (e.g., economy and comfort) are maintained by a reinforcement-learning-based (RL) controller. The coordination of the control systems is carried out by a supervisor. The effectiveness of the proposed coordinated control system is illustrated through high velocity vehicle maneuvers.
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Landolfi, Enrico, Francesco Junior Minervini, Nicola Minervini, Vincenzo De Bellis, Enrica Malfi und Ciro Natale. „Integration of a Model Predictive Control with a Fast Energy Management Strategy for a Hybrid Powertrain of a Connected and Automated Vehicle“. World Electric Vehicle Journal 12, Nr. 3 (21.09.2021): 159. http://dx.doi.org/10.3390/wevj12030159.
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In the years to come, Connected and Automated Vehicles (CAVs) are expected to substantially improve the road safety and environmental impact of the road transport sector. The information from the sensors installed on the vehicle has to be properly integrated with data shared by the road infrastructure (smart road) to realize vehicle control, which preserves traffic safety and fuel/energy efficiency. In this context, the present work proposes a real-time implementation of a control strategy able to handle simultaneously motion and hybrid powertrain controls. This strategy features a cascade of two modules, which were implemented through the model-based design approach in MATLAB/Simulink. The first module is a Model Predictive Control (MPC) suitable for any Hybrid Electric Vehicle (HEV) architecture, acting as a high-level controller featuring an intermediate layer between the vehicle powertrain and the smart road. The MPC handles both the lateral and longitudinal vehicle dynamics, acting on the wheel torque and steering angle at the wheels. It is based on a simplified, but complete ego-vehicle model, embedding multiple functionalities such as an adaptive cruise control, lane keeping system, and emergency electronic brake. The second module is a low-level Energy Management Strategy (EMS) of the powertrain realized by a novel and computationally light approach, which is based on the alternative vehicle driving by either a thermal engine or electric unit, named the Efficient Thermal Electric Skipping Strategy (ETESS). The MPC provides the ETESS with a torque request handled by the EMS module, aiming at minimizing the fuel consumption. The MPC and ETESS ran on the same Microcontroller Unit (MCU), and the methodology was verified and validated by processor-in-the-loop tests on the ST Microelectronics board NUCLEO-H743ZI2, simulating on a PC-host the smart road environment and a car-following scenario. From these tests, the ETESS resulted in being 15-times faster than than the well-assessed Equivalent Consumption Minimization Strategy (ECMS). Furthermore, the execution time of both the ETESS and MPC was lower than the typical CAN cycle time for the torque request and steering angle (10 ms). Thus, the obtained result can pave the way to the implementation of additional real-time control strategies, including decision-making and motion-planning modules (such as path-planning algorithms and eco-driving strategies).
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Gottschalg, Grischa, und Stefan Leinen. „Comparison and Evaluation of Integrity Algorithms for Vehicle Dynamic State Estimation in Different Scenarios for an Application in Automated Driving“. Sensors 21, Nr. 4 (19.02.2021): 1458. http://dx.doi.org/10.3390/s21041458.
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High-integrity information about the vehicle’s dynamic state, including position and heading (yaw angle), is required in order to implement automated driving functions. In this work, a comparison of three integrity algorithms for the vehicle dynamic state estimation of a research vehicle for an application in automated driving is presented. Requirements for this application are derived from the literature. All implemented integrity algorithms output a protection level for the position and heading solution. In the comparison, four measurement data sets obtained for the vehicle dynamic state estimation, which is based on a Global Navigation Satellite Signal receiver, inertial measurement units and odometry information (wheel speeds and steering angles), are used. The data sets represent four driving scenarios with different environmental conditions, especially regarding the satellite signal reception. All in all, the Kalman Integrated Protection Level demonstrated the best performance out of the three implemented integrity algorithms. Its protection level bounds the position error within the specified integrity risk in all four chosen scenarios. For the heading error, this also holds true, with a slight exception in the very challenging urban scenario.
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Yasin, Yasin Muhammad Syibli, und Dedi Nuryaman. „Peranan Alat Navigasi di Kapal Untuk Meningkatkan Keselamatan Pelayaran di Atas Kapal“. Dinamika Bahari 2, Nr. 1 (18.05.2021): 39–48. http://dx.doi.org/10.46484/db.v2i1.250.
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The guard rules that have been set by Collision Regulation 1972, STCW 1978 as amended in 2010 Regulation II / 1, all ships are obliged to carry out the guard duty without exception. As for the implementation, the duty officer must ensure that 1) All visual early warnings are taking place on the existing situation, including the presence of ships and signs from the land. 2) Continuous observation and bearing of approaching ships. 3) Identifying ships and land lights. 4) Checking the direction of the steering wheel and commanded steering signals. 5) Radar observation and echo sounder. 6) Observation of weather changes, especially visibility. This research uses a qualitative approach with descriptive delivery. The purpose of this study is to describe the role of navigation tools in increasing the level of shipping safety. With the results of this study, where an officer must optimize the operation and maintenance of navigation devices in order to carry out a proper observation. The use of navigation tools such as binoculars, radar, Automatic Identification System (AIS), and Electronic Charts Display and Identification System (ECDIS) is very helpful in optimizing existing observations. So improving skills in guard duty, especially in terms of making observations, must be as optimal as possible to take advantage of the help of navigation tools. Because observation is very important in order to avoid the danger of collision and achieve safety in shipping.