Journal articles on the topic 'Vehicle dynamic control'
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Ansari, Uzair, and Abdulrahman H. Bajodah. "Robust generalized dynamic inversion based control of autonomous underwater vehicles." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 232, no. 4 (May 27, 2017): 434–47. http://dx.doi.org/10.1177/1475090217708640.
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A novel two-loop structured robust generalized dynamic inversion–based control system is proposed for autonomous underwater vehicles. The outer (position) loop of the generalized dynamic inversion control system utilizes proportional-derivative control of the autonomous underwater vehicle’s inertial position errors from the desired inertial position trajectories, and it provides the reference yaw and pitch attitude angle commands to the inner loop. The inner (attitude) loop utilizes generalized dynamic inversion control of a prescribed asymptotically stable dynamics of the attitude angle errors from their reference values, and it provides the required control surface deflections such that the desired inertial position trajectories of the vehicle are tracked. The dynamic inversion singularity is avoided by augmenting a dynamic scaling factor within the Moore–Penrose generalized inverse in the particular part of the generalized dynamic inversion control law. The involved null control vector in the auxiliary part of the generalized dynamic inversion control law is constructed to be linear in the pitch and yaw angular velocities, and the proportionality gain matrix is designed to guarantee global closed-loop asymptotic stability of the vehicle’s angular velocity dynamics. An additional sliding mode control element is included in the particular part of the generalized dynamic inversion control system, and it works to robustify the closed-loop system against tracking performance deterioration due to generalized inversion scaling, such that semi-global practically stable attitude tracking is guaranteed. A detailed six degrees-of-freedom mathematical model of the Monterey Bay Aquarium Research Institute autonomous underwater vehicle is used to evaluate the control system design, and numerical simulations are conducted to demonstrate closed-loop system performance under various types of autonomous underwater vehicle maneuvers, under both nominal and perturbed autonomous underwater vehicle system’s mathematical model parameters.
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Vu, Trieu Minh, Reza Moezzi, Jindrich Cyrus, and Jaroslav Hlava. "Model Predictive Control for Autonomous Driving Vehicles." Electronics 10, no. 21 (October 24, 2021): 2593. http://dx.doi.org/10.3390/electronics10212593.
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The field of autonomous driving vehicles is growing and expanding rapidly. However, the control systems for autonomous driving vehicles still pose challenges, since vehicle speed and steering angle are always subject to strict constraints in vehicle dynamics. The optimal control action for vehicle speed and steering angular velocity can be obtained from the online objective function, subject to the dynamic constraints of the vehicle’s physical limitations, the environmental conditions, and the surrounding obstacles. This paper presents the design of a nonlinear model predictive controller subject to hard and softened constraints. Nonlinear model predictive control subject to softened constraints provides a higher probability of the controller finding the optimal control actions and maintaining system stability. Different parameters of the nonlinear model predictive controller are simulated and analyzed. Results show that nonlinear model predictive control with softened constraints can considerably improve the ability of autonomous driving vehicles to track exactly on different trajectories.
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Noei, Shirin, Mohammadreza Parvizimosaed, and Mohammadreza Noei. "Longitudinal Control for Connected and Automated Vehicles in Contested Environments." Electronics 10, no. 16 (August 18, 2021): 1994. http://dx.doi.org/10.3390/electronics10161994.
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The Society of Automotive Engineers (SAE) defines six levels of driving automation, ranging from Level 0 to Level 5. Automated driving systems perform entire dynamic driving tasks for Levels 3–5 automated vehicles. Delegating dynamic driving tasks from driver to automated driving systems can eliminate crashes attributed to driver errors. Sharing status, sharing intent, seeking agreement, or sharing prescriptive information between road users and vehicles dedicated to automated driving systems can further enhance dynamic driving task performance, safety, and traffic operations. Extensive simulation is required to reduce operating costs and achieve an acceptable risk level before testing cooperative automated driving systems in laboratory environments, test tracks, or public roads. Cooperative automated driving systems can be simulated using a vehicle dynamics simulation tool (e.g., CarMaker and CarSim) or a traffic microsimulation tool (e.g., Vissim and Aimsun). Vehicle dynamics simulation tools are mainly used for verification and validation purposes on a small scale, while traffic microsimulation tools are mainly used for verification purposes on a large scale. Vehicle dynamics simulation tools can simulate longitudinal, lateral, and vertical dynamics for only a few vehicles in each scenario (e.g., up to ten vehicles in CarMaker and up to twenty vehicles in CarSim). Conventional traffic microsimulation tools can simulate vehicle-following, lane-changing, and gap-acceptance behaviors for many vehicles in each scenario without simulating vehicle powertrain. Vehicle dynamics simulation tools are more compute-intensive but more accurate than traffic microsimulation tools. Due to software architecture or computing power limitations, simplifying assumptions underlying convectional traffic microsimulation tools may have been a necessary compromise long ago. There is, therefore, a need for a simulation tool to optimize computational complexity and accuracy to simulate many vehicles in each scenario with reasonable accuracy. This research proposes a traffic microsimulation tool that employs a simplified vehicle powertrain model and a model-based fault detection method to simulate many vehicles with reasonable accuracy at each simulation time step under noise and unknown inputs. Our traffic microsimulation tool considers driver characteristics, vehicle model, grade, pavement conditions, operating mode, vehicle-to-vehicle communication vulnerabilities, and traffic conditions to estimate longitudinal control variables with reasonable accuracy at each simulation time step for many conventional vehicles, vehicles dedicated to automated driving systems, and vehicles equipped with cooperative automated driving systems. Proposed vehicle-following model and longitudinal control functions are verified for fourteen vehicle models, operating in manual, automated, and cooperative automated modes over two driving schedules under three malicious fault magnitudes on transmitted accelerations.
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Song, Hui Xin, Cui Fen Li, You Shan Hou, Chao Wang, and Chun Ming Shao. "Research on Vehicle Height Dynamic Control." Advanced Materials Research 791-793 (September 2013): 672–75. http://dx.doi.org/10.4028/www.scientific.net/amr.791-793.672.
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In order to achieve the target of control vehicle height in running state,we designed a control schematic of which practicability was analyzed. By using AMEsim software, we established the mathematical model of the charging and releasing oil to simulate the performance of a 1/4 vehicle with hydro-pneumatic suspension. From the result, we get the conclusion that charging and releasing oil in running state has tiny effect on ride comfort, and stability of the vehicles.
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Lun, Guan De, Yan Cong Liu, Peng Yi, and Yang Qu. "Design of Dynamic Control on Underwater Vehicle." Applied Mechanics and Materials 138-139 (November 2011): 333–38. http://dx.doi.org/10.4028/www.scientific.net/amm.138-139.333.
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Considering the effects in the gravity, buoyancy, thrust and hydrodynamic on the underwater vehicle, based on the perspective of the dynamic control, established a relatively complete dynamic model of underwater vehicle, analyzed and designed the control system on this base. The control system is consisted of two control loop. Dynamic compensation of the within control loop based on the dynamic characteristic of the vehicle, by the role of the within control loop, the vehicle became an easy to control and a decoupled linear system. Outer control loop achieved a negative feedback control through the use of proportional and differential item on the actual vehicle pose and the posture deviation expected. Adjusted by adjusting the parameter matrix Kd, Kpcan get the desired attenuation of the error, which can achieve precise motion control of underwater vehicles. Simulation results show that: the control model, in the paper, can be built for dynamic control of underwater vehicles, there is a strong anti-interference ability, can better realize the theory of time-varying trajectory tracking.
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Popelysh, Denys, Yurii Seluk, and Sergyi Tomchuk. "TO THE STABILITY OF TANK VEHICLES IN THE BRAKE MODE." Avtoshliakhovyk Ukrayiny, no. 1 (257)’ 2019 (March 29, 2019): 27–32. http://dx.doi.org/10.33868/0365-8392-2019-1-257-27-32.
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This article discusses the question of the possibility of improving the roll stability of partially filled tank vehicles while braking. We consider the dangers associated with partially filled tank vehicles. We give examples of the severe consequences of road traffic accidents that have occurred with tank vehicles carrying dangerous goods. We conducted an analysis of the dynamic processes of fluid flow in the tank and their influence on the basic parameters of the stability of vehicle. When transporting a partially filled tank due to the comparability of the mass of the empty tank with the mass of the fluid being transported, the dynamic qualities of the vehicle change so that they differ significantly from the dynamic characteristics of other vehicles. Due to large displacements of the center of mass of cargo in the tank there are additional loads that act vehicle and significantly reduce the course stability and the drivability. We consider the dynamics of liquid sloshing in moving containers, and give examples of building a mechanical model of an oscillating fluid in a tank and a mathematical model of a vehicle with a tank. We also considered the method of improving the vehicle’s stability, which is based on the prediction of the moment of action and the nature of the dynamic processes of liquid cargo and the implementation of preventive actions by executive mechanisms. Modern automated control systems (anti-lock brake system, anti-slip control systems, stabilization systems, braking forces distribution systems, floor level systems, etc.) use a certain list of elements for collecting necessary parameters and actuators for their work. This gives the ability to influence the course stability properties without interfering with the design of the vehicle only by making changes to the software of these systems. Keywords: tank vehicle, roll stability, mathematical model, vehicle control systems.
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Lu, Yongjie, Tongtong Wang, and Hangxing Zhang. "Multiobjective Synchronous Control of Heavy-Duty Vehicles Based on Longitudinal and Lateral Coupling Dynamics." Shock and Vibration 2022 (July 21, 2022): 1–19. http://dx.doi.org/10.1155/2022/6987474.
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The steering system, suspension system, and braking system of the vehicle are interrelated, so the ride comfort and handling stability of the vehicle are also closely related. But the vertical and lateral dynamics equations and controls system of the vehicle are always independent of each other, and the multiobjective control is generally achieved through the coordination of control algorithms. In this paper, taking the dynamic load of the tire as a link, the vertical dynamic model and the lateral dynamic model of heavy-duty vehicle are coupled. When the heavy-duty vehicle is turning, the proposed coupling model not only reflects the influence of the front wheel angle on the vertical motion and the vertical tire load, but also reflects the unevenness of the road surface on vehicle lateral motion. In order to improve the handling stability and transient safety of the vehicle, a synchronous control system combining six-wheel steering and front wheel active steering is proposed. It solves the problem that it is difficult to effectively track the desired yaw rate for the three-axle all-wheel steering vehicle with the middle rear wheel angle as the control input. Under the framework of the vehicle vertical/lateral unified coupling dynamics model, the semiactive suspension system controlled by fuzzy PID and the six-wheel active steering system combined with fuzzy control and fuzzy PID control are integrated. It is verified that the synchronous control method effectively optimizes the vertical and lateral motion characteristics of heavy-duty vehicles during steering and, at the same time, improves the ride comfort and steering stability.
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Zaidi, Subiya, Harshita Yadav, Hemant Kumar Chaudhary, Hrithik Puri, and Kartikeya Saraswat. "Dynamic Traffic Control System." Journal of Big Data Technology and Business Analytics 1, no. 2 (July 28, 2022): 25–31. http://dx.doi.org/10.46610/jbdtba.2022.v01i02.004.
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A country with a population of 1.3 billion and almost 300 million vehicles, India is one of the biggest contributors to traffic jams, vehicle- specific pollution, and chronic lung diseases. To manage the footfall of this gigantic urban population, and the vehicles, our country has blindly poured in resources towards both active and passive traffic management, investing in measures such as smart traffic management systems and deploying enormous armies of traffic police to handle intersections and exits. The paper aims, towards showcasing a dynamic, fully autonomous model, that uses real-time feeds from existing traffic junctions/ intersection cameras, process them and provide an intensity score based on the density of traffic in each adjoining lane. The system, based upon the intensity scores, provides suitable traffic go time to each lane. The model also scans for emergency vehicles in each lane, to provide a priority pass to such vehicles.
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Dai, Wei, Yongjun Pan, Chuan Min, Sheng-Peng Zhang, and Jian Zhao. "Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications." Actuators 11, no. 12 (December 16, 2022): 378. http://dx.doi.org/10.3390/act11120378.
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The selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multibody vehicle model for longitudinal-vertical dynamics applicable to advanced driver assistance (ADAS) applications. The dynamic properties of the chassis, suspension, and tires are considered and modeled, which results in accurate vehicle dynamics and states. Unlike the vehicle dynamics models built into commercial software packages, such as ADAMS and CarSim, the proposed nonlinear dynamics model poses the equations of motion using a subset of relative coordinates. Therefore, the real-time simulation is conducted to improve riding performance and transportation safety. First, a vehicle system is modeled using a semi-recursive multibody dynamics formulation, and the vehicle kinematics and dynamics are accurately calculated using the system tree-topology. Second, a fork-arm removal technique based on the rod-removal technique is proposed to reduce the number of bodies, relative coordinates, and equations constrained by loop-closure. This increase the computational efficiency even further. Third, the dynamic simulations of the vehicle are performed on bumpy and sloping roads. The accuracy and efficiency of the numerical results are compared to the reference data. The comparative results demonstrate that the proposed vehicle model is effective. This efficient model can be utilized for the intelligent control of vehicle ADAS applications, such as forward collision avoidance, adaptive cruise control, and platooning.
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Al-Flehawee, Maher, and Auday Al-Mayyahi. "Building A Control Unit of A Series-Parallel Hybrid Electric Vehicle by Using A Nonlinear Model Predictive Control (NMPC) Strategy." Iraqi Journal for Electrical and Electronic Engineering 18, no. 1 (March 31, 2022): 93–102. http://dx.doi.org/10.37917/ijeee.18.1.11.
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Hybrid electric vehicles have received considerable attention because of their ability to improve fuel consumption compared to conventional vehicles. In this paper, a series-parallel hybrid electric vehicle is used because they combine the advantages of the other two configurations. In this paper, the control unit for a series-parallel hybrid electric vehicle is implemented using a Nonlinear Model Predictive Control (NMPC) strategy. The NMPC strategy needs to create a vehicle energy management optimization problem, which consists of the cost function and its constraints. The cost function describes the required control objectives, which are to improve fuel consumption and obtain a good dynamic response to the required speed while maintaining a stable value of the state of charge (SOC) for batteries. While the cost function is subject to the physical constraints and the mathematical prediction model that evaluate the vehicle’s behavior based on the current vehicle measurements. The optimization problem is solved at each sampling step using the (SQP) algorithm to obtain the optimum operating points of the vehicle’s energy converters, which are represented by the torque of the vehicle components.
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Mohamed Belrzaeg, Abdussalam Ali Ahmed, Amhimmid Q Almabrouk, Mohamed Mohamed Khaleel, Alforjani Ali Ahmed, and Meshaal Almukhtar. "Vehicle dynamics and tire models: An overview." World Journal of Advanced Research and Reviews 12, no. 1 (October 30, 2021): 331–48. http://dx.doi.org/10.30574/wjarr.2021.12.1.0524.
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Stability control system plays a significant role in vehicle dynamics to improve the vehicle handling and achieve better stability performance. In order to study and evaluate the performance of the vehicles in addition to how to control it, it is necessary to identify obtain some models related to the dynamics of the vehicle as well as the tire models. This paper presents fundamentals of vehicle dynamics by introducing vehicle models and tire model, which have been widely adopted for vehicle motion control. This helps to get a basic idea of what parameters and states of a vehicle are important in vehicle motion control. This work is separated into four sections: vehicle planar model, full vehicle model, two degrees of freedom vehicle model (bicycle model) to design the controller, and wheel dynamic model.
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Feng, Xingkai, Yuhui Wang, Qingxian Wu, and Xiaohui Zhang. "Longitudinal coordination control of hypersonic vehicle based on dynamic equation." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 14 (May 3, 2019): 5205–16. http://dx.doi.org/10.1177/0954410019844432.
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The complex nonlinearities of hypersonic vehicles can lead to strong couplings between variables, which will bring great challenges to flight control. For this purpose, this paper proposes a novel coupling analysis method for the longitudinal dynamics of a hypersonic vehicle, based on which a coordination controller is designed to reduce the negative effects of the couplings. Initially, according to the coupling characteristics of the hypersonic vehicle, a novel coupling analysis method based on the dynamic equations is proposed to describe the dynamic coupling relationships between variables. Then, a coordination control scheme is designed by combining sliding mode control and the dynamic coupling matrix obtained. Subsequently, the asymptotic stability of the closed-loop system is proved by using Lyapunov theory, and the simulation results are given to verify the effectiveness of the proposed dynamic coupling matrix-based coordination control.
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Yu, Shuyou, Encong Sheng, Yajing Zhang, Yongfu Li, Hong Chen, and Yi Hao. "Efficient Nonlinear Model Predictive Control of Automated Vehicles." Mathematics 10, no. 21 (November 7, 2022): 4163. http://dx.doi.org/10.3390/math10214163.
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In this paper, an efficient model predictive control (MPC) of velocity tracking of automated vehicles is proposed, in which a reference signal is given a priori. Five degree-of-freedom vehicle dynamics with nonlinear tires is chosen as the prediction model, in which coupling characteristics of longitudinal and lateral dynamics are taken into account. In order to balance computational burden and prediction accuracy, Koopman operator theory is adopted to transform the nonlinear model into a global linear model. Then, the global linear model is used in the design of MPC to reduce online computational burden and avoid solving nonconvex/nonlinear optimization problems. Furthermore, the effectiveness of Koopman operator in vehicle dynamics control is verified using a Matlab/Simulink environment. Validation results demonstrate that dynamic mode decomposition with control (DMDc) and extended dynamic mode decomposition (EDMD) algorithms are more accurate in model validation and dynamic prediction than local linearization, and DMDc algorithm has less computational burden on solving optimization problems than the EDMD algorithm.
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Lu, Yongjie, Yinfeng Han, Weihong Huang, and Yang Wang. "Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 236, no. 1 (December 22, 2021): 68–83. http://dx.doi.org/10.1177/14644193211057972.
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Aiming at the rollover risk of heavy-duty vehicles, an adaptive rollover prediction and control algorithm based on identification of multiple road adhesion coefficients is proposed, and the control effect has been verified by hardware-in-the-loop experiments. Based on the establishment of a 3 DOFs (Degree of freedom) vehicle dynamic model, the roll angle of the vehicle dynamic model is estimated in real time by using Kalman filter algorithm. In order to ensure the real-time operation of anti-rollover control strategy for multi-body dynamic heavy vehicle model, a sliding mode variable structure controller for anti-rollover of vehicles is designed to determine the optimal yaw moment. Specially, the recognition algorithm of road surface type is integrated into the control rollover algorithm. When the control system with road recognition algorithm recognizes whether the vehicle is in danger of rollover, it can not only adjust the state of the vehicle, but also shorten the time to reach the stable area of the vehicle's lateral load transfer rate by about 2 s. In order to further improve its adaptability and control accuracy, a Hardware-in-loop test platform for three-axis heavy-duty vehicles is built to verify the proposed anti-rollover control strategy. The results prove that the proposed control strategy can accurately predict the rollover risk and control the rollover in time.
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Qin, Yong Fa, Jie Hua, and Long Wei Geng. "Research on Optimal Control and Simulation for Active Suspension Systems." Applied Mechanics and Materials 340 (July 2013): 631–35. http://dx.doi.org/10.4028/www.scientific.net/amm.340.631.
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Vehicles with active suspension systems become more ride comfort and maneuverable stability, many types of active suspensions have been applied to passenger vehicles, but one of the shortcomings of an active susupension system is that the additional control power consumption is needed. The core issues of designing an active suspension system are to minimiaze vibration magnitute and control energy comsuption of the active suspension system. A new mathematic model for an active suspension system is established based on vehicle dynamics and modern control theory. An optimal control law is constructed through solving the Riccati equation, and then the transfer function is deduced to describe the relationship between the vetical velosity of the road roughness and the output of suspension system. Three typical parameters of vehicle ride comfort are researched, such as vertical acceleration of vehicle body, dynamic deflection of suspension system and dynamic deformation of tires. A case of a quarter vehicle model is studied by simulation to show that the proposed method of modeling and designing optimal controller are suitable to develop active suspension systems.
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Tu, Kuo-Yang. "A linear optimal tracker designed for omnidirectional vehicle dynamics linearized based on kinematic equations." Robotica 28, no. 7 (January 15, 2010): 1033–43. http://dx.doi.org/10.1017/s0263574709990890.
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SUMMARYIt is difficult to design controllers for the complicated dynamics of omnidirectional vehicles steered by multiple wheels with distributed traction force. In this paper, the dynamic model of a three-wheel omnidirectional vehicle, which is linearized to simplify controller design, is developed. The conditions of making its dynamics linear are derived first. Then, a strategy of planning wheel velocities to satisfy these conditions is proposed. Consequently, three-wheel omnidirectional vehicle can be easily treated by classical linear control theories. Finally, a linear optimal tracker is designed to control the omnidirectional vehicle for desired movement trajectories. In particular, the dynamic model includes the motors installed in the three-wheel omnidirectional vehicle, making it a practical model. Three kinds of vehicle trajectories illustrate the planning of wheel trajectories for linearizing the vehicle dynamics, and simulations demonstrate the performance of the linear optimal tracker. In addition, experimental results of a practical three-wheel omnidirectional vehicle are also included.
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Zhong, Qin, and Wenbin Wu. "A Switching-Based Interference Control for Booster Separation of Hypersonic Vehicle." Wireless Communications and Mobile Computing 2021 (December 15, 2021): 1–9. http://dx.doi.org/10.1155/2021/2115641.
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Whether launching from the ground or in the air, hypersonic vehicles need the booster to accelerate to a predetermined window, so as to meet the requirements of scramjet engine ignition. Therefore, there is interference suppression between boosters and hypersonic vehicles under the high dynamic pressure, which has become a key technical problem that affects the success of flight tests, especially when the aircraft is statically unstable. A method of variable structure switching-based control is proposed in this paper for rapid suppression on hypersonic vehicle booster separation interference. Switching control systems in real time according to state changes caused by flow field interference, the method can keep the attitude stability of hypersonic vehicle booster separation under the high dynamic pressure of static instability. The aerodynamic calculation model of the hypersonic vehicle booster separation process is established first, which adopts an unsteady solution and clarifies the aerodynamic interference characteristics of the afterbody on the vehicle in booster separation. Then, according to the characteristics of the flow field, the dynamics of the vehicle in and out of the interference area are converted into subsystems with switching characteristics. Using the dimension reduction and variable structure method, the switching control surface of the control system is established. On the basis of the vehicle state changes caused by flow field, the control system on the orbital change surface can be switched in real time to achieve stable attitude in the process of separation interference. Meanwhile, considering the additional interference torque generated by the afterbody to the vehicle in the separation process, a control system for interference suppression of the booster separation is designed. Simulation results verify that the designed control system can rapidly suppress the booster separation interference when the dynamic pressure is about 150 kPa and the vehicle has the static instability of 5%, thereby realizing the stable attitude of the vehicle.
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Diep, N. T., and N. K. Trung. "Transmitting Side Power Control for Dynamic Wireless Charging System of Electric Vehicles." Engineering, Technology & Applied Science Research 12, no. 4 (August 7, 2022): 9042–47. http://dx.doi.org/10.48084/etasr.4988.
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This paper proposes a new power control method in dynamic wireless charging systems for electric vehicles. A dual-loop controller is proposed to control charging power while the electric vehicle is moving without communication between the transmitting and receiving sides. The output power is estimated through the coupling coefficient estimation. However, the coupling coefficient varies with the position of the vehicle. Therefore, this paper also presents an easy-to-do practical estimation method from the transmitting side, in which the coupling coefficient value is continuously updated according to the vehicle's position. As a result, the output power is controlled according to the required level with an error of less than 5%.
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Su, Shuhua, and Gang Chen. "Lateral robust iterative learning control for unmanned driving robot vehicle." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 7 (April 14, 2020): 792–808. http://dx.doi.org/10.1177/0959651820904834.
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In order to achieve stable steering and path tracking, a lateral robust iterative learning control method for unmanned driving robot vehicle is proposed. Combining the nonlinear tire dynamic model with the vehicle dynamic model, the nonlinear vehicle dynamic model is constructed. The structure of steering manipulator of unmanned driving robot vehicle is analyzed, and the kinematics model and dynamics model of steering manipulator of unmanned driving robot vehicle are established. The structure of vehicle steering system is analyzed, and the dynamic model of vehicle steering system is established. Vehicle steering angle model is established by taking vehicle path tracking error and vehicle yaw angle error as input. Combining with the typical iterative learning control law, the robust term is added to the control law, and a robust iterative learning controller for steering manipulator system of unmanned driving robot vehicle is designed. The proposed controller’s stability and astringency are proved. The effectiveness of the proposed method is verified by comparing it with other control methods and human driver simulation tests.
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Goodarzi, Avesta, Amir Soltani, Mohammad Hassan Shojaeefard, and Amir Khajepour. "An integrated vehicle dynamic control strategy for three-wheeled vehicles." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 229, no. 3 (November 27, 2014): 225–44. http://dx.doi.org/10.1177/1464419314558741.
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Goodarzi, A., and M. Alirezaie. "Integrated fuzzy/optimal vehicle dynamic control." International Journal of Automotive Technology 10, no. 5 (October 2009): 567–75. http://dx.doi.org/10.1007/s12239-009-0066-5.
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Zhang, Chuanwei, Bo Chang, Rongbo Zhang, Rui Wang, and Jianlong Wang. "Observation of Dynamic State Parameters and Yaw Stability Control of Four-Wheel-Independent-Drive EV." World Electric Vehicle Journal 12, no. 3 (August 4, 2021): 105. http://dx.doi.org/10.3390/wevj12030105.
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Vehicle yaw stability control is an important part of the active safety of electric vehicles. In order to realize the yaw stability control of vehicles, this paper takes 4-WID electric vehicles as the research object, studies the nonlinear estimation of the state parameters of the lateral stability dynamic system and the yaw stability control strategy. The vehicle state parameter estimation strategy, based on the unscented Kalman filter (UKF) algorithm and the model predictive control algorithm, are designed to control the vehicle yaw stability, which realizes the safe and stable driving of the vehicle. Through CarSim–Simulink joint simulation and hardware-in-the-loop (HIL) experiments based on MicroAutoBox, the effectiveness and real-time performance of the designed control strategy are fully verified, which accelerate the development process of the vehicle controller, and realizes the safe and stable driving of the vehicle.
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Liu, Lihan, Yi Xue, Huamin Chen, Zhuwei Wang, Chao Fang, Yang Sun, and Yanhua Sun. "Optimal Connected Cruise Control Design with Time-Varying Leader Velocity and Delays." Journal of Sensors 2021 (December 10, 2021): 1–14. http://dx.doi.org/10.1155/2021/5961101.
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With the development of intelligent transportation system (ITS), owing to its flexible connectivity structures and communication network topologies, connected cruise control (CCC), increasing the situation awareness of the autonomous vehicle without redesigning the other vehicles, is an advanced cruise control technology attracted extensive attention. However, due to the uncertain traffic environment and the movement of the connected vehicles, the leader speed is typically highly dynamic. In this paper, taking the uncertain time-varying leading vehicle velocity and communication delays into consideration, an optimal CCC algorithm is proposed for both near-static case and general dynamic control cases. First, the analysis for discrete-time error dynamics model of the longitudinal vehicle platoon is performed. Then, in order to minimize the error between the desired and actual states, a linear quadratic optimization problem is formulated. Subsequently, in near-static control case, an efficient algorithm is proposed to derive the solution of the optimization problem by two steps. Specifically, the online step calculates the optimal control scheme according to the current states and previous control signals, and the off-line step calculates the corresponding control gain through backward recursion. Then, the results are further extended to the general dynamic control case where the leader vehicle moves at an uncertain time-varying velocity. Finally, simulation results verify the effectiveness of the proposed CCC algorithm.
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Eickstedt, Donald P., and Scott R. Sideleau. "The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV." Marine Technology Society Journal 44, no. 4 (July 1, 2010): 42–54. http://dx.doi.org/10.4031/mtsj.44.4.1.
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Abstract In this paper, an innovative hybrid control architecture for real-time control of autonomous robotic vehicles is described as well as its implementation on a commercially available autonomous underwater vehicle (AUV). This architecture has two major components, a behavior-based intelligent autonomous controller and an interface to a classical dynamic controller that is responsible for real-time dynamic control of the vehicle given the decisions of the intelligent controller over the decision state space (e.g., vehicle course, speed, and depth). The driving force behind the development of this architecture was a desire to make autonomy software development for underwater vehicles independent from the dynamic control specifics of any given vehicle. The resulting software portability allows significant code reuse and frees autonomy software developers from being tied to a particular vehicle manufacturer’s autonomy software and support as long as the vehicle supports the required interface between the intelligent controller and the dynamic controller. This paper will describe in detail the components of the backseat driver architecture as implemented on the Iver2 underwater vehicle, provide several examples of its use, and discuss the future direction of the architecture.
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Zhou, Anye, Siyuan Gong, Chaojie Wang, and Srinivas Peeta. "Smooth-Switching Control-Based Cooperative Adaptive Cruise Control by Considering Dynamic Information Flow Topology." Transportation Research Record: Journal of the Transportation Research Board 2674, no. 4 (March 10, 2020): 444–58. http://dx.doi.org/10.1177/0361198120910734.
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Vehicle-to-vehicle communications can be unreliable because of interference and information congestion, which leads to the dynamic information flow topology (IFT) in a platoon of connected and autonomous vehicles. Some existing studies adaptively switch the controller of cooperative adaptive cruise control (CACC) to optimize string stability when IFT varies. However, the difference of transient response between controllers can induce uncomfortable jerks at switching instances, significantly affecting riding comfort and jeopardizing vehicle powertrain. To improve riding comfort while maintaining string stability, the authors introduce a smooth-switching control-based CACC scheme with IFT optimization (CACC-SOIFT) by implementing a bi-layer optimization model and a Kalman predictor. The first optimization layer balances the probability of communication failure and control performance optimally, generating a robust IFT to reduce controller switching. The second optimization layer adjusts the controller parameters to minimize tracking error and the undesired jerk. Further, a Kalman predictor is applied to predict vehicle acceleration if communication failures occur. It is also used to estimate the states of preceding vehicles to suppress the measurement noise and the acceleration disturbance. The effectiveness of the proposed CACC-SOIFT is validated through numerical experiments based on NGSIM field data. Results indicate that the CACC-SOIFT framework can guarantee string stability and riding comfort in the environment of dynamic IFT.
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Liu, Shuo, Hongxin Zhang, and Jian Yang. "Mode Switching Frequency of Electrohydraulic-Power-Coupled Electric Vehicles with Different Delay Control Times." Electronics 11, no. 9 (April 20, 2022): 1299. http://dx.doi.org/10.3390/electronics11091299.
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The variability of vehicle operating conditions and the multiplicity of coupler dynamics inevitably increase the frequency and complexity of cooperative power control. In this study, a novel electromechanical–hydraulic-power-coupled electric vehicle is developed and investigated. This vehicle integrates a conventional electric motor with a hydraulic pump/motor to interconvert electrical, mechanical, and hydraulic energies, while a rule-based dynamic optimal energy management strategy is designed to achieve dynamic switching of operating modes according to the operating conditions. Thus, the power-switching sensitivity is reduced by adding a delay determination link to the Stateflow. Results show that the addition of the delay link has a small effect on classical road conditions and significant suppression of road conditions with high-power-switching frequency. Therefore, the method proposed in this paper improves the energy efficiency, stability, and economic performance of electrohydraulic-power-coupled electric vehicles, which will hopefully provide a good reference for the development of electrohydraulic vehicles.
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Song, Bongsob, J. Karl Hedrick, and Yeonsik Kang. "Dynamic Surface Control and Its Application to Lateral Vehicle Control." Mathematical Problems in Engineering 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/693607.
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This paper extends the design and analysis methodology of dynamic surface control (DSC) in Song and Hedrick, 2011, for a more general class of nonlinear systems. When rotational mechanical systems such as lateral vehicle control and robot control are considered for applications, sinusoidal functions are easily included in the equation of motions. If such a sinusoidal function is used as a forcing term for DSC, the stability analysis faces the difficulty due to highly nonlinear functions resulting from the low-pass filter dynamics. With modification of input variables to the filter dynamics, the burden of mathematical analysis can be reduced and stability conditions in linear matrix inequality form to guarantee the quadratic stability via DSC are derived for the given class of nonlinear systems. Finally, the proposed design and analysis approach are applied to lateral vehicle control for forward automated driving and backward parallel parking at a low speed as well as an illustrative example.
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Cheng, Shuo, Ming-ming Mei, Shi-yong Guo, Liang Li, Cong-zhi Liu, Xiang Chen, and Xiu-heng Wu. "A novel coupling strategy for automated vehicle’s longitudinal dynamic stability." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 10-11 (April 5, 2021): 2753–63. http://dx.doi.org/10.1177/09544070211006530.
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The autonomous vehicle has been developed widely, and attracted much attention of global automotive industry. Wherein, longitudinal dynamics control is one of the most crucial issues of autonomous vehicles. The throttle-by-wire (TBW) control could implement the acceleration command through adjusting the throttle opening, thus control the driving torque of the fuel autonomous vehicle. However, an automated vehicle controlled by traditional TBW in low-friction road conditions could reach large slip ratio region, which could adversely cause the loss of vehicle longitudinal dynamic stability. To tackle the mentioned issues, this paper proposes an adaptive sliding-mode control (SMC) algorithm to optimize tire slip speed of the automated vehicle. When the intervention conditions of active acceleration are satisfied, the TBW can take over the throttle opening control instead of the driver. Firstly, the SMC can calculate an intervention of the effective torque input based on tire torque balance dynamics. Moreover, a traction control system (TCS) and TBW coupling strategy based on the logic threshold method is put forward to response the optimum slip speed curve. Thus, during the vehicle starting process, a three-layer control strategy consisting of TBW, torque control, and pressure control of TCS is involved. Finally, real-car snow and ice road tests are carried out, and experimental results demonstrate great performance of the proposed strategy in complicated low-friction road.
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Han, Jiangyi, Fan Wang, and Yuhang Wang. "A Control Method for the Differential Steering of Tracked Vehicles Driven Independently by a Dual Hydraulic Motor." Applied Sciences 12, no. 13 (June 22, 2022): 6355. http://dx.doi.org/10.3390/app12136355.
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It is well known that tracked vehicles can adapt well to all kinds of terrain. However, the safety of tracked vehicles should be considered during steering on sloped terrain. This paper focuses on the differential steering control of tracked vehicles independently driven by a hydraulic motor. Firstly, the dynamic model of hydrostatic drive system was built and the kinematics and dynamics of differential steering driving were analyzed theoretically. Secondly, in order to prevent rollover of the tracked vehicle, the method of vehicle speed constraint was proposed. The constraint conditions of vehicle speed and steering angular velocity were analyzed under different slope conditions. Thirdly, based on the analysis results, differential steering control rules for tracked vehicles were formulated. To verify the effectiveness of the control rules, the models of vehicle driving dynamics and Fuzzy PID control simulation were established in MATLAB/Simulink. Longitudinal steering simulation was carried out on a slope (0°, 30°), and an analysis of the simulation of lateral steering along the contour line was carried out. The simulation results showed that this steering control strategy was able to automatically adjust the target vehicle speed to avoid rollover while the driver was inputting steering signals.
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ZHANG, JIANCHAO, Zhan Chen, Jun Wang, and Yufei Hu. "DYNAMIC CHARACTERISTICS OF NON-SMOOTH SUSPENSION SYSTEM UNDER FRACTIONAL-ORDER DISPLACEMENT FEEDBACK." DYNA 96, no. 3 (May 1, 2021): 322–28. http://dx.doi.org/10.6036/10125.
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Vehicle suspension systems generally have non-smooth factors, such as clearances, collision, and constraint. The bad dynamic behaviors caused by these non-smooth factors have not been controlled effectively, thus influencing the driving performance and riding comfort of vehicles. To explore the dynamic characteristics of non-smooth suspension systems for controlling the bad dynamic behaviors, an approximate analytical solution to the response of a two-degree of freedom nonlinear suspension system, which has a fractional-order displacement feedback under harmonic excitation, was deduced by the Krylov–Bogoliubov (KB) method. This analytical solution was verified by the numerical solution of the suspension system. Moreover, the response of the suspension system with fractional-order displacement feedback control was compared with those of the systems without feedback control and traditional integer-order control. The influences of the main parameters of the system on the dynamic suspension characteristics were analyzed thoroughly. Finally, the stability of the suspension system was analyzed by plotting the maximum Lyapunov index diagram. Results show that compared with the systems without feedback control and with traditional integer-order control, the nonlinear suspension system with fractional-order displacement feedback control can significantly improve vehicle acceleration, the dynamic deflection of the suspension, and the displacement of the vehicle body. Controlling the nonlinear stiffness coefficient of the suspension system within 103–106 is conducive to decreasing the dynamic deflection of the suspension system of vehicles, while increasing the fractional-order control coefficient and the fractional order is beneficial to controlling the dynamic deflection of the suspension system and the displacement of the vehicle body. Conclusions obtained in the study can provide unique references for the optimal design and control of nonlinear suspension systems with fractional-order displacement feedback control. Keywords: suspension; non-smooth; fractional order; dynamics; analytical solution; nonlinear.
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Rawash, Mustafa, Mohamed Abdelaziz, Maged Ghoneima, and Farid Tolbah. "Modular Estimation Strategy of Vehicle Dynamic Parameters for Motion Control Applications." MATEC Web of Conferences 166 (2018): 02006. http://dx.doi.org/10.1051/matecconf/201816602006.
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The presence of motion control or active safety systems in vehicles have become increasingly important for improving vehicle performance and handling and negotiating dangerous driving situations. The performance of such systems would be improved if combined with knowledge of vehicle dynamic parameters. Since some of these parameters are difficult to measure, due to technical or economic reasons, estimation of those parameters might be the only practical alternative. In this paper, an estimation strategy of important vehicle dynamic parameters, pertaining to motion control applications, is presented. The estimation strategy is of a modular structure such that each module is concerned with estimating a single vehicle parameter. Parameters estimated include: longitudinal, lateral, and vertical tire forces – longitudinal velocity – vehicle mass. The advantage of this strategy is its independence of tire parameters or wear, road surface condition, and vehicle mass variation. Also, because of its modular structure, each module could be later updated or exchanged for a more effective one. Results from simulations on a 14-DOF vehicle model are provided here to validate the strategy and show its robustness and accuracy.
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FABIŚ, Paweł, and Marek FLEKIEWICZ. "Optimalisation of the SI engine timing advance fueled by LPG." Scientific Journal of Silesian University of Technology. Series Transport 111 (June 30, 2021): 33–41. http://dx.doi.org/10.20858/sjsutst.2021.111.3.
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This study is an attempt to determine the control parameters of the control system for gaseous fuels currently used for driving vehicles. It presents the selected dynamic parameters of the car obtained when fueling the engine with petroleum-based LPG. This paper attempts to determine the optimal timing advance of the gas-air mixture and the efficiency of its processing in the drive system of the tested vehicle driven by a four-cylinder engine with a 1.6 dm. More so, this article includes an analysis of the influence of the optimised power charts of the engine on the dynamics of the motion of a motor vehicle running on gaseous fuel. To present changes in the dynamics of movement, indicators and parameters determining changes in the dynamics of vehicle movement, such as dynamic coefficient, acceleration and flexibility were used. Through this analysis, it is possible to verify the optimised power and torque waveform and determine whether the vehicle dynamics improved.
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Gao, Kai, Di Yan, Fan Yang, Jin Xie, Li Liu, Ronghua Du, and Naixue Xiong. "Conditional Artificial Potential Field-Based Autonomous Vehicle Safety Control with Interference of Lane Changing in Mixed Traffic Scenario." Sensors 19, no. 19 (September 27, 2019): 4199. http://dx.doi.org/10.3390/s19194199.
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Car-following is an essential trajectory control strategy for the autonomous vehicle, which not only improves traffic efficiency, but also reduces fuel consumption and emissions. However, the prediction of lane change intentions in adjacent lanes is problematic, and will significantly affect the car-following control of the autonomous vehicle, especially when the vehicle changing lanes is only a connected unintelligent vehicle without expensive and accurate sensors. Autonomous vehicles suffer from adjacent vehicles’ abrupt lane changes, which may reduce ride comfort and increase energy consumption, and even lead to a collision. A machine learning-based lane change intention prediction and real time autonomous vehicle controller is proposed to respond to this problem. First, an interval-based support vector machine is designed to predict the vehicles’ lane change intention utilizing limited low-level vehicle status through vehicle-to-vehicle communication. Then, a conditional artificial potential field method is used to design the car-following controller by incorporating the lane-change intentions of the vehicle. Experimental results reveal that the proposed method can estimate a vehicle’s lane change intention more accurately. The autonomous vehicle avoids collisions with a lane-changing connected unintelligent vehicle with reliable safety and favorable dynamic performance.
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He, Juan, and Shuai Kang. "Design of Vehicle Taillight Circuit with Mechanical Properties in Mechanical Engineering." Advanced Materials Research 648 (January 2013): 315–18. http://dx.doi.org/10.4028/www.scientific.net/amr.648.315.
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The vehicle taillights control circuit with mechanical properties is composed of a clock pulse circuit, a switch control circuit, three hexadecimal circuit, decoding and display drive circuit, taillight display. The circuit is simulated with Multisim. The simulation results show that vehicle taillight display can make pedestrians and other vehicles understand clearly the occurrence of the vehicle’s dynamic change, thus which can prevent the occurrence of traffic accidents effectively.
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Zhang, Shi Jun, and Hui Zhi Sun. "Modeling and Analysis of the Proportional Control Four-Wheel Steering Vehicle Handling and Stability." Applied Mechanics and Materials 376 (August 2013): 243–47. http://dx.doi.org/10.4028/www.scientific.net/amm.376.243.
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Four-wheel steering (4ws) refers to the meaning of besides usually turn the front wheels of the vehicle, plus the corresponding rear wheel steering. Its main purpose is to increase the vehicle steering stability at high speed or in lateral force under the action , improve the vehicle steering portability at low speed and turning radius at high speed.A 4ws vehicle dynamic model with two-degree of freedom[1,2] was established, and presents the corresponding dynamic equation. Using the theory of vehicle handling dynamics,according to the 4ws vehicle dynamic equation,the transient response of 4ws vehicle steering are detailed analyzed.Compared with 2ws steering, illustrates the manipulation of 4ws vehicle has strong handling stability.
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Xu, Dongxin, Yueqiang Han, Xianghui Han, Ya Wang, and Guoye Wang. "Narrow Tilting Vehicle Drifting Robust Control." Machines 11, no. 1 (January 10, 2023): 90. http://dx.doi.org/10.3390/machines11010090.
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The narrow tilting vehicle receives extensive public attention because of traffic congestion and environmental pollution, and the active rolling motion control is a traffic safety precaution that reduces the rollover risk caused by the structure size of the narrow vehicle. The drifting motion control reflects the relatively updated attentive research of the regular-size vehicle, which can take full advantage of the vehicle’s dynamic performance and improve driving safety, especially when tires reach their limits. The narrow tilting vehicle drifting control is worthy of research to improve the driving safety of the narrow tilting vehicle, especially when tires reach the limit. The nonlinear narrow tilting vehicle dynamic model is established with the UniTire model to describe the vehicle motion characteristics and is simplified to reduce the computation of the drifting controller design. The narrow tilting vehicle drifting controller is designed based on the robust theory with uncertain external disturbances. The controller has a wide application, validity, and robustness and whose performance is verified by realizing different drifting motions with different initial driving motions. The narrow tilting vehicle drifting robust control has some practical and theoretical significance for more research.
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Taratorkin, Igor, Victor Derzhanskii, and Alexander Volkov. "Stabilization of transport tracked vehicle trajectory." MATEC Web of Conferences 224 (2018): 02038. http://dx.doi.org/10.1051/matecconf/201822402038.
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The article presents the research findings of the controlled motion dynamics of tracked vehicles equipped with a steering system with discrete properties. It is established that the potential high-speed performance is limited by motion instability and by dynamic properties i.e. the phase lag of the vehicle response to the harmonic control input and the “engine overshoot” to a unit step function (steering jerk). Technical proposals allowing for the high-speed performance of the vehicle are substantiated, such as yaw moment control, which ensures the positive-difference of the partial differential coefficients of yaw moment and cornering resistance moment with respect to curvature; increase of the dynamic system stiffness for increasing the natural frequency and decreasing energy when exciting oscillatory processes; implementation of Shaper steering brake control algorithms.
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Fu, Qiang. "A DSP-Controlled Permanent Magnet Synchronous Motor Control System for Hybrid Vehicles." International Journal of Antennas and Propagation 2022 (July 4, 2022): 1–9. http://dx.doi.org/10.1155/2022/1996502.
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Compared with other motors, the permanent magnet synchronous motor (PMSM) is small and occupies less space. At the same time, its weight is relatively light, so it is more in line with the development trend of hybrid electric vehicle (EV) drive motor lightweight miniaturization and has been widely used. This article studies a DSP-controlled PMSM control system for hybrid vehicles. Firstly, the motor drive control system is mainly controlled by DSP2812 chip. Then, a maximum torque current ratio control method was proposed to optimize the energy efficiency of hybrid vehicles based on PMSM. The longitudinal dynamic model of the moving hybrid vehicle was obtained by force analysis. Combined with the basic equation of PMSM and the transmission system of the hybrid vehicle, the mathematical model of PMSM-EV was established. The experimental results show that the maximum torque current ratio control method applied to hybrid vehicles can effectively reduce the loss, improve the efficiency and dynamic performance, and solve the endurance problem of hybrid vehicles to a certain extent. This advantage is significant in the dynamic acceleration and deceleration of hybrid vehicles.
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Jin, Hui, and Shijie Li. "Research on Stability Control Based on the Wheel Speed Difference for the AT Vehicles." Discrete Dynamics in Nature and Society 2015 (2015): 1–8. http://dx.doi.org/10.1155/2015/251207.
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This paper utilizes a linear two-degree-of-freedom vehicle model to calculate the nominal value of the vehicle’s nondrive-wheel speed difference and investigates methods of estimating the yaw acceleration and sideslip angular speed. A vehicular dynamic stability control system utilizing this nondrive-wheel speed difference is then developed, which can effectively improve a vehicle’s dynamic stability at a very low cost. Vehicle cornering processes on roads of different frictions and with different vehicle speeds are explored via simulation, with speed control being applied when vehicle speed is high enough to make the vehicle unstable. Driving simulator tests of vehicle cornering capacity on roads of different friction coefficients are also conducted.
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R. Sushma and J. Satheesh Kumar. "Dynamic Vehicle Modelling and Controlling Techniques for Autonomous Vehicle Systems." December 2022 4, no. 4 (January 9, 2023): 307–15. http://dx.doi.org/10.36548/jeea.2022.4.007.
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The driving scenario of an automated vehicle is the crucial technology in the design of autonomous cars. This suggested approach aims to address the shortcomings of autonomous cars, such as their poor real- time performance and low control precision. The process for building a virtual simulation environment for autonomous vehicle testing and validation is described in this study. Model Predictive Control and Proportional Integral and Derivative Control are used in MATLAB simulation to build three car models. These are related to the 2D and 3D animation used in collision detection and visualization. The virtual engine visualization is included throughout the model. A variety of test circumstances are used to validate the simulation model, and the model’s performance is assessed in the presence of various barriers. The simulation's findings demonstrate that the autonomous vehicle has a strong potential for self-adaptation even in challenging and complex working environments. No instances of car sideslip or track departure have been noted. It is discovered that this autonomous car performs remarkably well overall when compared to other autonomous vehicles. The suggested approach is essential for enhancing autonomous vehicle driving safety, maintaining vehicle control in challenging situations, and improving the advancement of intelligent vehicle driving assistance.
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Pei, Xiaofei, Zhenfu Chen, Bo Yang, and Duanfeng Chu. "Estimation of states and parameters of multi-axle distributed electric vehicle based on dual unscented Kalman filter." Science Progress 103, no. 1 (October 3, 2019): 003685041988008. http://dx.doi.org/10.1177/0036850419880083.
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Distributed electric drive technology has become an important trend because of its ability to enhance the dynamic performance of multi-axle heavy vehicle. This article presents a joint estimation of vehicle’s state and parameters based on the dual unscented Kalman filter. First, a 12-degrees-of-freedom dynamic model of an 8 × 8 distributed electric vehicle is established. Considering the dynamic variation of some key parameters for heavy vehicle, a real-time parameter estimator is introduced, based on which simultaneous estimation of vehicle’s state and parameters is implemented under the dual unscented Kalman filter framework. Simulation results show that the dual unscented Kalman filter estimator has a high estimation accuracy for multi-axle distributed electric vehicle’s state and key parameters. Therefore, it is reliable for vehicle dynamics control without the influence of unknown or varying parameters.
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Li, Wenfei, Huiyun Li, Kun Xu, Zhejun Huang, Ke Li, and Haiping Du. "Estimation of Vehicle Dynamic Parameters Based on the Two-Stage Estimation Method." Sensors 21, no. 11 (May 26, 2021): 3711. http://dx.doi.org/10.3390/s21113711.
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Vehicle dynamic parameters are of vital importance to establish feasible vehicle models which are used to provide active controls and automated driving control. However, most vehicle dynamics parameters are difficult to obtain directly. In this paper, a new method, which requires only conventional sensors, is proposed to estimate vehicle dynamic parameters. The influence of vehicle dynamic parameters on vehicle dynamics often involves coupling. To solve the problem of coupling, a two-stage estimation method, consisting of multiple-models and the Unscented Kalman Filter, is proposed in this paper. During the first stage, the longitudinal vehicle dynamics model is used. Through vehicle acceleration/deceleration, this model can be used to estimate the distance between the vehicle centroid and vehicle front, the height of vehicle centroid and tire longitudinal stiffness. The estimated parameter can be used in the second stage. During the second stage, a single-track with roll dynamics vehicle model is adopted. By making vehicle continuous steering, this vehicle model can be used to estimate tire cornering stiffness, the vehicle moment of inertia around the yaw axis and the moment of inertia around the longitudinal axis. The simulation results show that the proposed method is effective and vehicle dynamic parameters can be well estimated.
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Liu, Yang, Changfu Zong, and Dong Zhang. "Lateral control system for vehicle platoon considering vehicle dynamic characteristics." IET Intelligent Transport Systems 13, no. 9 (September 1, 2019): 1356–64. http://dx.doi.org/10.1049/iet-its.2018.5504.
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Hosseini-Pishrobat, Mehran, Mirali Seyedzavvar, and Mohammad Ali Hamed. "Robust dynamic surface control of vehicle lateral dynamics using disturbance estimation." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 5 (March 1, 2018): 1081–99. http://dx.doi.org/10.1177/0954407018757619.
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This paper reports a disturbance estimation-based dynamic surface control method for stabilizing vehicle lateral dynamics through yaw moment control. Based on the single track vehicle model, an uncertain model of the vehicle lateral dynamics is developed which represents the effect of parametric uncertainty and lateral tire force nonlinearity by mismatched, lumped total disturbances. In this model, the longitudinal velocity of the vehicle is considered as a time-varying parameter. Using the developed mathematical vehicle model, an extended state observer is proposed to estimate the total disturbance signals. Next, a dynamic surface controller is designed with the objective of tracking the desired lateral velocity generated by a linear two-degrees-of-freedom vehicle dynamics. The dynamic surface controller uses the estimated disturbances of the extended state observer as feedforward inputs to compensate for the effects of the total disturbances. To achieve an improved robust performance against disturbance estimation errors, the [Formula: see text] control technique is incorporated into the DSC design. To this end, using a norm-bounded representation of the longitudinal velocity, the control design is formulated as the feasibility of a finite number of linear matrix inequalities. The stability and robustness of the extended state observer and the dynamic surface control systems are analyzed in a Lyapunov framework and the required mathematical proofs are presented. Considering a lane change and a J-turn maneuver, extensive numerical simulations are performed to show the effectiveness of the proposed control system. The results confirm the improved performance of the closed-loop system compared to the open-loop one, in various driving and road conditions.
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Wang, Guo Ye, Lu Zhang, Guo Yan Chen, and Zhong Fu Zhang. "Research for the Turning Vehicles ESP Control Performances on the Yaw Elastic Restriction Vehicle System." Applied Mechanics and Materials 229-231 (November 2012): 325–30. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.325.
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Project the structure of the yaw elastic restriction vehicle system, and set up the system dynamic model. Establish yaw elastic restriction vehicle dynamics simulation system based on Matlab/Simulink aimed at Chery A3 sedan. Adopting the brake driving integration ESP control strategy, analyze and verify the stability control performance of independent vehicle systems and yaw elastic restriction vehicle system respectively in neutral steer, understeer and oversteer three test conditions. The results of the study show that the stability control performance of yaw elastic restriction vehicle system and independent vehicle systems has remarkable consistency. This provides a basis for vehicle driving stability control test.
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Yan, Maode, Jiacheng Song, Panpan Yang, and Lei Zuo. "Neural Adaptive Sliding-Mode Control of a Bidirectional Vehicle Platoon with Velocity Constraints and Input Saturation." Complexity 2018 (December 2, 2018): 1–11. http://dx.doi.org/10.1155/2018/1696851.
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This paper investigates the vehicle platoon control problems with both velocity constraints and input saturation. Firstly, radial basis function neural networks (RBF NNs) are employed to approximate the unknown driving resistance of a vehicle’s dynamic model. Then, a bidirectional topology, where vehicles can only communicate with their direct preceding and following neighbors, is used to depict the relationship among the vehicles in the platoon. On this basis, a neural adaptive sliding-mode control algorithm with an anti-windup compensation technique is proposed to maintain the vehicle platoon with desired distance. Moreover, the string stability and the strong string stability of the whole vehicle platoon are proven through the stability theorem. Finally, numerical simulations verify the feasibility and effectiveness of the proposed control method.
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Ju, Chanyoung, and Hyoung Il Son. "A distributed swarm control for an agricultural multiple unmanned aerial vehicle system." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 10 (February 21, 2019): 1298–308. http://dx.doi.org/10.1177/0959651819828460.
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In this study, we propose a distributed swarm control algorithm for an agricultural multiple unmanned aerial vehicle system that enables a single operator to remotely control a multi-unmanned aerial vehicle system. The system has two control layers that consist of a teleoperation layer through which the operator inputs teleoperation commands via a haptic device and an unmanned aerial vehicle control layer through which the motion of unmanned aerial vehicles is controlled by a distributed swarm control algorithm. In the teleoperation layer, the operator controls the desired velocity of the unmanned aerial vehicle by manipulating the haptic device and simultaneously receives the haptic feedback. In the unmanned aerial vehicle control layer, the distributed swarm control consists of the following three control inputs: (1) velocity control of the unmanned aerial vehicle by a teleoperation command, (2) formation control to obtain the desired formation, and (3) collision avoidance control to avoid obstacles. The three controls are input to each unmanned aerial vehicle for the distributed system. The proposed algorithm is implemented in the dynamic simulator using robot operating system and Gazebo, and experimental results using four quadrotor-type unmanned aerial vehicles are presented to evaluate and verify the algorithm.
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Li, Shuo, Yan Zhao, Weiguo Lin, and Ming Su. "Design and Analysis of Road Load Detection Machine Based on Computer Technology." Journal of Physics: Conference Series 2143, no. 1 (December 1, 2021): 012003. http://dx.doi.org/10.1088/1742-6596/2143/1/012003.
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Abstract In this paper, an experimental device is designed for measuring vehicle dynamic load, the structure and stress of the equipment are analyzed by computer technology. The device design mainly includes vehicle, road surface, vehicle transmission, and control [1]. The vehicle is designed based on a 2-DOF vehicle model, the road is designed based on the Pasternak foundation model, and the control mainly uses a single-chip microcomputer. The dynamic response of vehicles to the road at different speeds is analyzed through the experiment [2].
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Koo, Shiang-Lung, and Han-Shue Tan. "Dynamic-Deflection Tire Modeling for Low-Speed Vehicle Lateral Dynamics." Journal of Dynamic Systems, Measurement, and Control 129, no. 4 (January 10, 2007): 393–403. http://dx.doi.org/10.1115/1.2745847.
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Vehicle lateral dynamics depends heavily on the tire characteristics. Accordingly, a number of tire models were developed to capture the tire behaviors. Among them, the empirical tire models, generally obtained through lab tests, are commonly used in vehicle dynamics and control analyses. However, the empirical models often do not reflect the actual dynamic interactions between tire and vehicle under real operational environments, especially at low vehicle speeds. This paper proposes a dynamic-deflection tire model, which can be incorporated with any conventional vehicle model to accurately predict the resonant mode in the vehicle yaw motion as well as steering lag behavior at low speeds. A snowblower was tested as an example and the data gathered verified the predictions from the improved vehicle lateral model. The simulation results show that these often-ignored characteristics can significantly impact the steering control designs for vehicle lane-keeping maneuvers at low speeds.
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Jin, Yin, and Chen. "Advanced Estimation Techniques for Vehicle System Dynamic State: A Survey." Sensors 19, no. 19 (October 3, 2019): 4289. http://dx.doi.org/10.3390/s19194289.
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In order to improve handling stability performance and active safety of a ground vehicle, a large number of advanced vehicle dynamics control systems—such as the direct yaw control system and active front steering system, and in particular the advanced driver assistance systems—towards connected and automated driving vehicles have recently been developed and applied. However, the practical effects and potential performance of vehicle active safety dynamics control systems heavily depend on real-time knowledge of fundamental vehicle state information, which is difficult to measure directly in a standard car because of both technical and economic reasons. This paper presents a comprehensive technical survey of the development and recent research advances in vehicle system dynamic state estimation. Different aspects of estimation strategies and methodologies in recent literature are classified into two main categories—the model-based estimation approach and the data-driven-based estimation approach. Each category is further divided into several sub-categories from the perspectives of estimation-oriented vehicle models, estimations, sensor configurations, and involved estimation techniques. The principal features of the most popular methodologies are summarized, and the pros and cons of these methodologies are also highlighted and discussed. Finally, future research directions in this field are provided.