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1
Noei, Shirin, Mohammadreza Parvizimosaed et Mohammadreza Noei. « Longitudinal Control for Connected and Automated Vehicles in Contested Environments ». Electronics 10, no 16 (18 août 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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CORNELIU, LAZAR, et TIGANASU ALEXANDRU. « Control-Oriented Models for vehicle longitudinal motion ». Journal of Engineering Sciences and Innovation 3, no 3 (16 septembre 2018) : 251–64. http://dx.doi.org/10.56958/jesi.2018.3.3.251.
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The use of mathematical models is widespread both in simulating the dynamic behavior of vehicle longitudinal motion and in designing related controllers. This paper focuses on control-oriented models for longitudinal motion which better captured the plant dynamics for vehicles with internal combustion engines. Firstly, a review of some simplified models is presented and secondly, two more complex control-oriented models which take into account the powertrain dynamics are proposed.
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Dai, Wei, Yongjun Pan, Chuan Min, Sheng-Peng Zhang et Jian Zhao. « Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications ». Actuators 11, no 12 (16 décembre 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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Hamersma, Herman A., et P. Schalk Els. « Longitudinal vehicle dynamics control for improved vehicle safety ». Journal of Terramechanics 54 (août 2014) : 19–36. http://dx.doi.org/10.1016/j.jterra.2014.04.002.
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Li, Wenfei, Huiyun Li, Kun Xu, Zhejun Huang, Ke Li et Haiping Du. « Estimation of Vehicle Dynamic Parameters Based on the Two-Stage Estimation Method ». Sensors 21, no 11 (26 mai 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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Nie, Xiaobo, Chuan Min, Yongjun Pan, Ke Li et Zhixiong Li. « Deep-Neural-Network-Based Modelling of Longitudinal-Lateral Dynamics to Predict the Vehicle States for Autonomous Driving ». Sensors 22, no 5 (4 mars 2022) : 2013. http://dx.doi.org/10.3390/s22052013.
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Multibody models built in commercial software packages, e.g., ADAMS, can be used for accurate vehicle dynamics, but computational efficiency and numerical stability are very challenging in complex driving environments. These issues can be addressed by using data-driven models, owing to their robust generalization and computational speed. In this study, we develop a deep neural network (DNN) based model to predict longitudinal-lateral dynamics of an autonomous vehicle. Dynamic simulations of the autonomous vehicle are performed based on a semirecursive multibody method for data acquisition. The data are used to train and test the DNN model. The DNN inputs include the torque applied on wheels and the vehicle’s initial speed that imitates a double lane change maneuver. The DNN outputs include the longitudinal driving distance, the lateral driving distance, the final longitudinal velocities, the final lateral velocities, and the yaw angle. The predicted vehicle states based on the DNN model are compared with the multibody model results. The accuracy of the DNN model is investigated in detail in terms of error functions. The DNN model is verified within the framework of a commercial software package CarSim. The results demonstrate that the DNN model predicts accurate vehicle states in real time. It can be used for real-time simulation and preview control in autonomous vehicles for enhanced transportation safety.
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Yan, Yan, Xu Chen, Wenzhe Wang, Peng Hang, Haishan Chen et Jinbo Liu. « Research on braking dynamics of multi-axle vehicle ». Journal of Physics : Conference Series 2246, no 1 (1 avril 2022) : 012019. http://dx.doi.org/10.1088/1742-6596/2246/1/012019.
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Abstract Braking dynamics is an important part of longitudinal dynamics. Through the analysis of braking performance of multi-axle vehicles, we can deepen our understanding of longitudinal dynamics. Starting from the braking dynamics analysis of the whole vehicle, this paper proposes to establish the braking dynamics model of multi-axle vehicle by using the suspension deformation coordination equation, so as to calculate the general calculation formula of ground reaction force of multi-axle vehicle when braking. The brake force distribution of 4-axle brake is analyzed to verify its rationality and provide basis for multi-axle brake design.
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Lu, Yongjie, Tongtong Wang et Hangxing Zhang. « Multiobjective Synchronous Control of Heavy-Duty Vehicles Based on Longitudinal and Lateral Coupling Dynamics ». Shock and Vibration 2022 (21 juillet 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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Gao, Xingbang, Jiaojiao Li, Ruiyuan Liu, Shuai Zhang et Pengcheng Ma. « Research on Vehicle Longitudinal Control Method Based on Model Predictive Control ». Frontiers in Computing and Intelligent Systems 1, no 3 (25 octobre 2022) : 42–47. http://dx.doi.org/10.54097/fcis.v1i3.2068.
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In order to improve the safety of autonomous vehicles during driving and the comfort of drivers and passengers, the longitudinal dynamics model of the vehicle is first established. Secondly, the longitudinal motion control strategy is designed considering the influence of vehicle driving safety and driver comfort. Based on this, a longitudinal motion controller based on model predictive control is established. The upper controller uses the model predictive control algorithm to calculate the expected acceleration, and the lower controller uses the vehicle inverse longitudinal dynamics model to convert the expected acceleration calculated by the upper controller into throttle opening and braking pressure. Finally, the effectiveness of the longitudinal motion controller is verified by MATLAB / Simulink under different working conditions. The simulation results show that the longitudinal motion controller designed in this paper improves the comfort of drivers and passengers under the premise of ensuring the safety of vehicles.
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Güleryüz, İbrahim Can, et Özgün Başer. « Modelling the longitudinal braking dynamics for heavy-duty vehicles ». Proceedings of the Institution of Mechanical Engineers, Part D : Journal of Automobile Engineering 235, no 10-11 (26 mars 2021) : 2802–17. http://dx.doi.org/10.1177/09544070211004508.
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This paper establishes a reliable heavy-duty braking system model that can be used for response time prediction and for vehicle braking calculations regarding the legislative requirements. For the response time prediction, a pneumatic system model of a heavy-duty vehicle is constructed by Matlab Simulink in consideration of service brake layout. To ensure the accuracy of system parameters related with pneumatic system response time experiments are conducted on two different 4 × 4 heavy-duty vehicles. The numerically calculated response time results are validated with experimental data. To improve the response time of the vehicle, design modifications are conducted on the pneumatic brake system properties. To check the compliance of the pneumatic brake system design with legislative requirements of UN Regulation 13, heavy-duty vehicle brake system (HVBS) model is developed by using Matlab Simulink. HVBS model is composed of longitudinal vehicle and wheel dynamics, Magic Formula tyre model, wheel slip and the experimentally verified heavy-duty pneumatic system model. The braking performance analyses are conducted by using HVBS model to compare the design alternatives in accordance with the legal requirements in terms of service braking and secondary braking conditions.
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Alexa, Octavian, Marin Marinescu, Marian Truta, Radu Vilau et Valentin Vinturis. « Simulating the Longitudinal Dynamics of a Tracked Vehicle ». Advanced Materials Research 1036 (octobre 2014) : 499–504. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.499.
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The simulation procedure has always been considered as a giant leap forward, especially in the field of basic designing of a product. There is nothing new underneath the basic concept, but the scientific and technical progress always brings up new techniques that improve simulation in its whole. When we talk about a vehicle, especially about a military one, we consider that it is much cheaper to simulate a process involving the weapon system than performing countless tests that are rather expensive. In this respect, we tried to develop a simulation mathematical model, check its accuracy with a set of extensive tests, prove it reliability and further extrapolate the behavior of the simulated model to a larger number of military vehicles of the same kind. It could help in various fields, such as diagnose (by comparing the simulated results with the real ones got from a faulty vehicle) or automatically regulating some functions (an intelligent vehicle, having an implemented, simulated model, that is able to feel the status of a subsystem in real time and regulate its behavior, accordingly). Hence, the paper presents a model that simulates the longitudinal dynamics of a tracked vehicle. It has been issued using Simulink module of Matlab programming environment. It aims at pointing out the performances of the vehicle. The models interface is friendly and its structure is modular. The main modules of the model are the engine, the torque converter, the transmission and the track. The engine and the torque converter are modeled using the experimental maps obtained by the tests that have been previously developed by the manufacturer. The main principle of the equations that describe the system is to set a balance among the forces (both active and resistive) that load the vehicle. The inputs of the model are the technical and dimensional features, provided by the manufacturer or experimentally determined. The output of the model is a dynamic behavior. Comparing the results with the experimental data eventually validates or invalidates the model. But the results were excellent, so the model was validated. Also, the results proved that the developed model is able to predict the performances of the take-off stage of the tracked vehicle.
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Fauzi, Ahmad, Saiful Amri Mazlan et Hairi Zamzuri. « Modeling and Validation of Quarter Vehicle Traction Model ». Applied Mechanics and Materials 554 (juin 2014) : 489–93. http://dx.doi.org/10.4028/www.scientific.net/amm.554.489.
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This manuscript provides modeling and validation of a quarter car vehicle model to study the wheel dynamics behavior in longitudinal direction. The model is consists of a longitudinal slip model subsystem, a quarter body dynamic and tire subsystems. The quarter vehicle model was then validated using an instrumented experimental vehicle based on the driver input from brake and throttle pedals. Vehicle transient handling dynamic tests known as sudden braking test was performed for the purpose of validation. Several behaviors of the vehicle dynamics were observed during braking maneuvers such as body longitudinal velocity, wheel linear velocity and tire longitudinal slip at a quarter of the vehicle. Comparisons of the experimental results and model responses with sudden braking imposed motions were made. Consequently, the trends between simulation results and experimental data were found almost similar with an acceptable level of error for the application at hand.
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Cheng, Shuo, Ming-ming Mei, Shi-yong Guo, Liang Li, Cong-zhi Liu, Xiang Chen et 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 (5 avril 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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Feng, Xingkai, Yuhui Wang, Qingxian Wu et 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 (3 mai 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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Da Lio, Mauro, Daniele Bortoluzzi et Gastone Pietro Rosati Papini. « Modelling longitudinal vehicle dynamics with neural networks ». Vehicle System Dynamics 58, no 11 (11 juillet 2019) : 1675–93. http://dx.doi.org/10.1080/00423114.2019.1638947.
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Wan, Ying, Li Mai et Zhi Gen Nie. « Dynamic Modeling and Analysis of Tank Vehicle under Braking Situation ». Advanced Materials Research 694-697 (mai 2013) : 176–80. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.176.
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Considering the instability of the direction dynamics of tank vehicle system under braking maneuver, the longitudinal equivalent model of liquid was formulated with consideration of both the steady-state and the transient state dynamics of the liquid. The Matlab/simulink program of the liquid was built and was combined with the vehicle model in Trucksim software to simulate and analyze the motion of the liquid cargo centroid and its dynamical effects on the vehicle under braking maneuver. It is observed that the liquid cargo slosh motion in tank vehicles has significant influences on braking performance, pitch motion and perpendicular motion of the vehicle. The results of this paper have significant help for studies on dynamics of vehicle tankers under braking maneuver and ensurement of braking stability and security.
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Chen, Gang, et Wei-gong Zhang. « Design of prototype simulation system for driving performance of electromagnetic unmanned robot applied to automotive test ». Industrial Robot : An International Journal 42, no 1 (19 janvier 2015) : 74–82. http://dx.doi.org/10.1108/ir-06-2014-0353.
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Purpose – The purpose of this paper is to present a prototype simulation system for driving performance of an electromagnetic unmanned robot applied to automotive test (URAT) to solve that it is difficult and dangerous to online debug control program and to quickly obtain test vehicle dynamic performance. Design/methodology/approach – The driving performance of the electromagnetic URAT can be evaluated by the prototype simulation system. The system can simulate various driving conditions of test vehicles. An improved vehicle longitudinal dynamics model matching to the electromagnetic URAT is established. The proposed model has good real-time, and it is easy to implement. The displacement of throttle mechanical leg, brake mechanical leg, clutch mechanical leg and shift mechanical arm is used for the system input. Test vehicle speed and engine speed are used for the system output, and they are obtained by the computation of the established vehicle longitudinal dynamics model. Findings – Driving conditions simulation test and vehicle emission test are performed using a Ford Focus car. Simulation and experiment results show that the proposed prototype simulation system in the paper can simulate the driving conditions of actual vehicles, and the performance that electromagnetic URAT drives an actual vehicle is evaluated by the simulation system. Research limitations/implications – Future research will focus on improving the real time of the proposed simulation system. Practical implications – The autonomous driving performance of electromagnetic URAT can be evaluated by the proposed prototype simulation system. Originality/value – A prototype simulation system for driving performance of an electromagnetic URAT based on an improved vehicle longitudinal dynamics model is proposed in this paper, so that it can solve the difficulty and danger of online debugging control program, quickly obtaining the test vehicle performance.
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Girbés, Vicent, Daniel Hernández, Leopoldo Armesto, Juan Dols et Antonio Sala. « Drive Force and Longitudinal Dynamics Estimation in Heavy-Duty Vehicles ». Sensors 19, no 16 (11 août 2019) : 3515. http://dx.doi.org/10.3390/s19163515.
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Modelling the dynamic behaviour of heavy vehicles, such as buses or trucks, can be very useful for driving simulation and training, autonomous driving, crash analysis, etc. However, dynamic modelling of a vehicle is a difficult task because there are many subsystems and signals that affect its behaviour. In addition, it might be hard to combine data because available signals come at different rates, or even some samples might be missed due to disturbances or communication issues. In this paper, we propose a non-invasive data acquisition hardware/software setup to carry out several experiments with an urban bus, in order to collect data from one of the internal communication networks and other embedded systems. Subsequently, non-conventional sampling data fusion using a Kalman filter has been implemented to fuse data gathered from different sources, connected through a wireless network (the vehicle’s internal CAN bus messages, IMU, GPS, and other sensors placed in pedals). Our results show that the proposed combination of experimental data gathering and multi-rate filtering algorithm allows useful signal estimation for vehicle identification and modelling, even when data samples are missing.
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Sandrini, Giulia, Marco Gadola et Daniel Chindamo. « Longitudinal Dynamics Simulation Tool for Hybrid APU and Full Electric Vehicle ». Energies 14, no 4 (23 février 2021) : 1207. http://dx.doi.org/10.3390/en14041207.
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Due to problems related to environmental pollution and fossil fuels consumption that have not infinite availability, the automotive sector is increasingly moving towards electric powertrains. The most limiting aspect of this category of vehicles is certainly the battery pack, regarding the difficulty in obtaining high range with good performance and low weights. The aim of this work is to provide a simulation tool, which allows for the analysis of the performance of different types of electric and hybrid powertrains, concerning both mechanical and electrical aspects. Through this model it is possible to test different vehicle configurations before prototype realization or to investigate the impact that subsystems’ modifications may have on a vehicle under development. This will allow to speed-up the model-based design process typical for fully electric and hybrid vehicles. The model aims to be at the same time complete but simple enough to lower the simulation time and computational burden so that it can be used in real-time applications, such as driving simulators. All this reduces the time and costs of vehicle design. Validation is also provided, based on a real vehicle and comparison with another consolidated simulation tool. Maximum error on mechanical quantities is proved to be within 5% while on electrical quantities it is always lower than 10%.
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Sheikholeslam, Shahab, et Charles A. Desoer. « A System Level Study of the Longitudinal Control of a Platoon of Vehicles ». Journal of Dynamic Systems, Measurement, and Control 114, no 2 (1 juin 1992) : 286–92. http://dx.doi.org/10.1115/1.2896526.
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This paper presents a preliminary system study of a longitudinal control law for a platoon of nonidentical vehicles using a simplified nonlinear model for the vehicle dynamics. This study advances the art of automatic longitudinal control for a platoon of vehicles in the sense that it considers longer platoons composed of nonidentical vehicles; furthermore, the longitudinal control laws presented in this study take advantage of communication possibilities not available in the recent past. We assume that for i = 1, 2, . . . vehicle i knows at all times vl and al (the velocity and acceleration of the lead vehicle) in addition to the distance between vehicle i and the preceding vehicle, i − 1. A control law is developed and is tested on a simulation of a platoon of 16 vehicles where the lead vehicle increases its velocity at a rate of 3 m.s−2; it is shown that the distance between successive vehicles does not change by more than 0.12 m in spite of variations in the masses of the vehicles (from the nominal), of communication delay and of noise in measurements.
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Poh Ping, Em, J. Hossen et Wong Eng Kiong. « Lane Departure Warning Estimation Using Yaw Acceleration ». Open Engineering 11, no 1 (19 novembre 2020) : 102–11. http://dx.doi.org/10.1515/eng-2021-0008.
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AbstractLane departure collisions have contributed to the traffic accidents that cause millions of injuries and tens of thousands of casualties per year worldwide. Due to vision-based lane departure warning limitation from environmental conditions that affecting system performance, a model-based vehicle dynamics framework is proposed for estimating the lane departure event by using vehicle dynamics responses. The model-based vehicle dynamics framework mainly consists of a mathematical representation of 9-degree of freedom system, which permitted to pitch, roll, and yaw as well as to move in lateral and longitudinal directions with each tire allowed to rotate on its axle axis. The proposed model-based vehicle dynamics framework is created with a ride model, Calspan tire model, handling model, slip angle, and longitudinal slip subsystems. The vehicle speed and steering wheel angle datasets are used as the input in vehicle dynamics simulation for predicting lane departure event. Among the simulated vehicle dynamic responses, the yaw acceleration response is observed to provide earlier insight in predicting the future lane departure event compared to other vehicle dynamics responses. The proposed model-based vehicle dynamics framework had shown the effectiveness in estimating lane departure using steering wheel angle and vehicle speed inputs.
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Szántó, András, Sándor Hajdu et Krisztián Deák. « Survey of the Application Fields and Modeling Methods of Automotive Vehicle Dynamics Models ». International Journal of Engineering and Management Sciences 5, no 2 (15 avril 2020) : 196–209. http://dx.doi.org/10.21791/ijems.2020.2.26.
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In this paper, a review is presented on automotive vehicle dynamics modeling. Applied vehicle dynamics models from various application fields are analyzed and classified in the first section. Vehicle dynamics models may be simplified because of different reasons: several control/estimation/analysis methods are suitable only for simplified models (e.g. using control-oriented models), or because of the computational cost. Detailed/truth models of vehicle dynamics represent another field of vehicle dynamics modeling, these models play an important role in the virtual prototyping of vehicles. In the second section, the main modeling considerations of vehicle dynamics are presented in longitudinal, lateral and vertical directions. Various physical effects must be considered in the case of vehicle dynamics modeling, a lot of these effects are significant only in a specific direction of the vehicle body, which is the main potential of model simplification. The section presents vehicle modeling considerations in all of the three translational directions of the vehicle body.
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Ling, Hongwei, et Bin Huang. « Research on Torque Distribution of Four-Wheel Independent Drive Off-Road Vehicle Based on PRLS Road Slope Estimation ». Mathematical Problems in Engineering 2021 (11 septembre 2021) : 1–11. http://dx.doi.org/10.1155/2021/5399588.
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In view of the high difficulty in coupling of various electric vehicle parameters, intractable parameter estimation, and unreasonable distribution of vehicle driving torque, the four-wheel hub motor is applied to drive electric vehicles, which can instantly obtain the torque and speed of the hub motor and achieve precise control of the torque of each wheel. According to the vehicle longitudinal dynamics model, a progressive RLS (PRLS) algorithm for real-time estimation of vehicle mass and road gradient is proposed. Meanwhile, by means of taking the longitudinal acceleration of the vehicle and the road gradient obtained from the estimation algorithm as the parameter of the torque distribution at the front and rear axles, a dynamic compensation and distribution control strategy of the front and rear axle torques is designed. Moreover, based on hardware-in-the-loop real-time simulation and real-vehicle tests, the effectiveness of the proposed estimation algorithm and the rationality of the real-time distribution control strategy of driving torque are verified.
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Du, Zixue, Haoxin Wu, Zhen Yang et Xiaoxia Wen. « Research on intelligent formation operation performance of straddle-type rapid transit vehicles in heterogeneous operating environment ». Mechanics 29, no 1 (6 février 2023) : 59–66. http://dx.doi.org/10.5755/j02.mech.32110.
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This paper presents an intelligent formation operation mode (IFOM) based on straddle-type rapid transit vehicles. Taking the straddle-type rapid transit vehicles operating in IFOM as the object, the operation mode of the vehicle is defined in the control system architecture of the straddle-type rapid transit system. In addition, considering the heterogeneous operating environ-ment of formation vehicles, an evaluation index system for formation vehicles is proposed. Then, according to the vehicle longitudinal dynamics model and the artificial potential field formation algorithm, we build the formation vehicle operation controller. After that, referring to the vehicle dynamics model, a multi rigid body dynamics simulation model of formation vehicles in a heterogeneous operating environment is established. Finally, the operating performance of formation vehicles in heterogeneous operating environment is analyzed. The analysis results show that the operation performance of the formation vehicle meets the requirements of the evaluation index system, which proves the feasibility of the formation operation of straddle-type rapid transit vehicles operating in IFOM.
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Grumondz, V. T., R. V. Pilgunov, M. V. Vinogradov et N. V. Maykova. « Lateral Motion of Towed Underwater Vehicle within the Problem of Continental Shelf Monitoring ». Herald of the Bauman Moscow State Technical University. Series Mechanical Engineering, no 1 (130) (février 2020) : 56–69. http://dx.doi.org/10.18698/0236-3941-2020-1-56-69.
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Lateral motion dynamics was studied of a robotic towed underwater system designed to monitor the continental shelf and consisting of a towed vehicle and a tow wireline. In regard to underwater vehicles of the type in question, it is quite correct to represent spatial motion in the form of a super-position consisting of two flat motions, i.e., longitudinal motion in the vertical plane and lateral motion in the horizontal plane. Dynamics of the towed system longitudinal motion within the monitoring problem was considered in a previously published work by the authors. The present work is its natural continuation and development traditionally accepted in the problems of the underwater vehicles spatial motion mechanics. Diagram of the towed vehicle operation and its hydrodynamic characteristics are presented; besides, mathematical model of a wireline and also a model of the wireline-towed vehicle system lateral motion were constructed. Probable steady system motions were analyzed, issues of balancing, as well as those of the towed vehicle dynamic stability when moving at a constant depth were considered. Results of numerical calculations were provided. The results obtained were considered in conjunction with the results of the authors' above mentioned work related to the towed vehicle longitudinal motion and make it possible to select such system parameters that provide the specified character of spatial movements in the process of monitoring the continental shelf taking into consideration the need to perform turns in the horizontal plane at changing directions and to ensure vertical maneuvers when avoiding underwater obstacles.
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Renaldi, Felix. « Pemodelan Dan Simulasi Dinamika Kendaraan Roda 4 Dengan Metode Bondgraph Untuk Pengembangan Simulator Dinamik ». JURNAL TEKNIK INDUSTRI 1, no 1 (20 mars 2011) : 1–13. http://dx.doi.org/10.25105/jti.v1i1.6989.
Texte intégralRésumé :
This paper discussed the dynamics and modeling of the wheel 4 vehicle using bondgraph method. Bondgraph method is a method of modeling dynamic system using a united approach. With this method, the model of a dynamic system formed by observing the flow of energy exchange that occurs in advance of system components. United approach used in this method allows the system to different domains can be modeled in an integrated way. On the development of dynamic models of four-wheel vehicles, the dynamics equations in two areas, namely the lateral and longitudinal, are modeled with bondgraph components, and is equipped with a kinematic equation to the directional field. Bondgraph model can then be simulated using the software SIMULINK. For the purposes of developing a four-wheeled vehicle simulator, a four-wheeled vehicle types modeled and simulated using this approach. The results obtained show equivalence with the expected physical phenomena. In a further step, an initial configuration of the simulator platform is designed with attention to major degrees of freedom dynamical system modeled by equations. Mechanical platform is then modeled with the software SIMMECHANICS to evaluate its ability to reconstruct the main motion of four-wheeled vehicles that were examined. With these simulations, the capabilities and limitations of the platform configuration can be analyzed.
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Collu, Maurizio, Minoo H. Patel et Florent Trarieux. « The longitudinal static stability of an aerodynamically alleviated marine vehicle, a mathematical model ». Proceedings of the Royal Society A : Mathematical, Physical and Engineering Sciences 466, no 2116 (2 décembre 2009) : 1055–75. http://dx.doi.org/10.1098/rspa.2009.0459.
Texte intégralRésumé :
An assessment of the relative speeds and payload capacities of airborne and waterborne vehicles highlights a gap that can be usefully filled by a new vehicle concept, utilizing both hydrodynamic and aerodynamic forces. A high-speed marine vehicle equipped with aerodynamic surfaces is one such concept. In 1904, Bryan & Williams (Bryan & Williams 1904 Proc. R. Soc. Lond. 73 , 100–116 (doi:10.1098/rspl.1904.0017)) published an article on the longitudinal dynamics of aerial gliders, and this approach remains the foundation of all the mathematical models studying the dynamics of airborne vehicles. In 1932, Perring & Glauert (Perring & Glauert 1932 Reports and Memoranda no. 1493) presented a mathematical approach to study the dynamics of seaplanes experiencing the planing effect. From this work, planing theory has developed. The authors propose a unified mathematical model to study the longitudinal stability of a high-speed planing marine vehicle with aerodynamic surfaces. A kinematics framework is developed. Then, taking into account the aerodynamic, hydrostatic and hydrodynamic forces, the full equations of motion, using a small perturbation assumption, are derived and solved specifically for this concept. This technique reveals a new static stability criterion that can be used to characterize the longitudinal stability of high-speed planing vehicles with aerodynamic surfaces.
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Han, Jiangyi, Fan Wang et Yuhang Wang. « A Control Method for the Differential Steering of Tracked Vehicles Driven Independently by a Dual Hydraulic Motor ». Applied Sciences 12, no 13 (22 juin 2022) : 6355. http://dx.doi.org/10.3390/app12136355.
Texte intégralRésumé :
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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Dang, Dongfang, Feng Gao et Qiuxia Hu. « Motion Planning for Autonomous Vehicles Considering Longitudinal and Lateral Dynamics Coupling ». Applied Sciences 10, no 9 (2 mai 2020) : 3180. http://dx.doi.org/10.3390/app10093180.
Texte intégralRésumé :
Vehicles are highly coupled and multi-degree nonlinear systems. The establishment of an appropriate vehicle dynamical model is the basis of motion planning for autonomous vehicles. With the development of autonomous vehicles from L2 to L3 and beyond, the automatic driving system is required to make decisions and plans in a wide range of speeds and on bends with large curvature. In order to make precise and high-quality control maneuvers, it is important to account for the effects of dynamical coupling in these working conditions. In this paper, a new single-coupled dynamical model (SDM) is proposed to deal with the various dynamical coupling effects by identifying and simplifying the complicated one. An autonomous vehicle motion planning problem is then formulated using the nonlinear model predictive control theory (NMPC) with the SDM constraint (NMPC-SDM). We validated the NMPC-SDM with hardware-in-the-loop (HIL) experiments to evaluate improvements to control performance by comparing with the planners original design, using the kinematic and single-track models. The comparative results show the superiority of the proposed motion planning algorithm in improving the maneuverability and tracking performance.
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Zhao, Linhui, et Zhiyuan Liu. « Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle ». Mathematical Problems in Engineering 2014 (2014) : 1–11. http://dx.doi.org/10.1155/2014/801628.
Texte intégralRésumé :
Vehicle velocity and roll angle are important information for active safety control systems of four-wheel independent drive electric vehicle. In order to obtain robustness estimation of vehicle velocity and roll angle, a novel method is proposed based on vehicle dynamics and the measurement information provided by the sensors equipped in modern cars. The method is robust with respect to different road and friction conditions. Firstly, the dynamic characteristics of four-wheel independent drive electric vehicle are analyzed, and a four-degree-of-freedom nonlinear dynamic model of vehicle and a tire longitudinal dynamic equation are established. The relationship between the longitudinal and lateral friction forces is derived based on Dugoff tire model. The unknown input reconstruction technique of sliding mode observer is used to achieve longitudinal tire friction force estimation. A simple observer is designed for the estimation of the roll angle of the vehicle. And then using the relationship, the estimated longitudinal friction forces and roll angle, a sliding mode observer for vehicle velocity estimation is provided, which does not need to know the tire-road friction coefficient and road angles. Finally, the proposed method is evaluated experimentally under a variety of maneuvers and road conditions.
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Sawaqed, Laith Sami, et Israa Hasan Rabbaa. « Fuzzy Yaw Rate and Sideslip Angle Direct Yaw Moment Control for Student Electric Racing Vehicle with Independent Motors ». World Electric Vehicle Journal 13, no 7 (21 juin 2022) : 109. http://dx.doi.org/10.3390/wevj13070109.
Texte intégralRésumé :
In this paper, a new concurrent yaw rate, sideslip angle, and longitudinal-velocity direct yaw moment control (DYC) strategy is proposed to improve the handling and stability of a rear-wheel drive student electric racing vehicle (EV) equipped with two independent motors. In order to control these three parameters concurrently, three control schemes are developed: three fuzzy controllers, three optimized PID controllers, and two fuzzy controllers for the yaw rate and sideslip angle with a PID for longitudinal velocity. The EV dynamic behavior for the different control schemes is compared by using a nonlinear model of the EV. This model consists of three main parts: vehicle dynamics, wheel dynamics, and tire dynamics. Simulations under a circular-path driving scenario show that the proposed fuzzy controllers can effectively reduce the consumed energy by 10%, track the desired speed and path, and enhance the vehicle’s behavior and stability while maneuvering by decreasing both the yaw rate and sideslip angle deviation.
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Nie, Xiaobo, Chuan Min, Yongjun Pan, Zhixiong Li et Grzegorz Królczyk. « An Improved Deep Neural Network Model of Intelligent Vehicle Dynamics via Linear Decreasing Weight Particle Swarm and Invasive Weed Optimization Algorithms ». Sensors 22, no 13 (21 juin 2022) : 4676. http://dx.doi.org/10.3390/s22134676.
Texte intégralRésumé :
We propose an improved DNN modeling method based on two optimization algorithms, namely the linear decreasing weight particle swarm optimization (LDWPSO) algorithm and invasive weed optimization (IWO) algorithm, for predicting vehicle’s longitudinal-lateral responses. The proposed improved method can restrain the solutions of weight matrices and bias matrices from falling into a local optimum while training the DNN model. First, dynamic simulations for a vehicle are performed based on an efficient semirecursive multibody model for real-time data acquisition. Next, the vehicle data are processed and used to train and test the improved DNN model. The vehicle responses, which are obtained from the LDWPSO-DNN and IWO-DNN models, are compared with the DNN and multibody results. The comparative results show that the LDWPSO-DNN and IWO-DNN models predict accurate longitudinal-lateral responses in real-time without falling into a local optimum. The improved DNN model based on optimization algorithms can be employed for real-time simulation and preview control in intelligent vehicles.
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Fu, Yao, Wan Hua Ye, Yu Long Lei, Zhen Jie Liu et Hua Bing Zeng. « A Road Grade Recognition Method Based on Longitudinal Acceleration ». Applied Mechanics and Materials 339 (juillet 2013) : 38–44. http://dx.doi.org/10.4028/www.scientific.net/amm.339.38.
Texte intégralRésumé :
A road grade recognition method based on longitudinal acceleration was proposed after longitudinal dynamics analysis. The method based on longitudinal dynamics utilized a real-time engine output torque signal and the real-time vehicle speed signal to calculate road grade. The result of simulation and the vehicle field test showed that the method based on existing vehicle sensors was low cost, simple and feasible, it could identify road grade.
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Napolitano Dell’Annunziata, Guido, Vincenzo Maria Arricale, Flavio Farroni, Andrea Genovese, Nicola Pasquino et Giuseppe Tranquillo. « Estimation of Vehicle Longitudinal Velocity with Artificial Neural Network ». Sensors 22, no 23 (6 décembre 2022) : 9516. http://dx.doi.org/10.3390/s22239516.
Texte intégralRésumé :
Vehicle dynamics control systems have a fundamental role in smart and autonomous mobility, where one of the most crucial aspects is the vehicle body velocity estimation. In this paper, the problem of a correct evaluation of the vehicle longitudinal velocity for dynamic control applications is approached using a neural networks technique employing a set of measured samples referring to signals usually available on-board, such as longitudinal and lateral acceleration, steering angle, yaw rate and linear wheel speed. Experiments were run on four professional driving circuits with very different characteristics, and the vehicle longitudinal velocity was estimated with different neural network training policies and validated through comparison with the measurements of the one acquired at the vehicle’s center of gravity, provided by an optical Correvit sensor, which serves as the reference (and, therefore, exact) velocity values. The results obtained with the proposed methodology are in good agreement with the reference values in almost all tested conditions, covering both the linear and the nonlinear behavior of the car, proving that artificial neural networks can be efficiently employed onboard, thereby enriching the standard set of control and safety-related electronics.
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Li, Yongming, Shou Ma, Kunting Yu et Xingli Guo. « Vehicle kinematic and dynamic modeling for three-axles heavy duty vehicle ». Mathematical Modelling and Control 2, no 4 (2022) : 176–84. http://dx.doi.org/10.3934/mmc.2022018.
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<abstract><p>Under complex conditions, the vertical, lateral and longitudinal dynamics of vehicles have obvious coupling and interaction. This paper aims to provide a suitable driver cab and a vehicle model for the study of vehicle coupling dynamic performance. In modeling the cab and body kinetic equation, two shock absorbers are considered in the front axle suspension system. In addition, the vertical, roll and pitch motion of the diver cab, vehicle body, the vertical and roll behavior of three wheel axles, the pitch angles of the left and right balancing pole on rear suspension, and roll angle the of each tire are considered. Finally, based on the above coupled motion characteristics, a diver cab and a vehicle model for three-axles heavy-duty vehicle with 26 degrees of freedom (DOF) are proposed.</p></abstract>
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Kwon, Seong-Jin, Takehiko Fujioka, Ki-Yong Cho et Myung-Won Suh. « Model-matching control applied to longitudinal and lateral automated driving ». Proceedings of the Institution of Mechanical Engineers, Part D : Journal of Automobile Engineering 219, no 5 (1 mai 2005) : 583–98. http://dx.doi.org/10.1243/095440705x11103.
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Although there has been substantial research on longitudinal and lateral controllers for an automated driving system, stability issues with respect to the effect of uncertainties due to parameter variations (e.g. in the vehicle mass and the cornering stiffness) and disturbances or perturbations to the vehicle system (e.g. in the road gradient and the wind) still need to be addressed. Thus, an automated driving system needs to be made robust to those influences. For this purpose, the model-matching control applied to longitudinal and lateral automated driving is investigated by vehicle dynamics simulation. The design of the model-matching controller is obtained by using the characteristics of a two-degree-of-freedom controller. It can make various characteristics of automated driving vehicles equivalent to a specific transfer function, which is suggested as the reference model. The vehicle dynamics models including the model-matching controller are constructed for computer simulation. Then, simple examples of open-loop simulation and closed-loop simulation are solved to check the robustness of the model-matching controller. As a practical example, an automated driving system is adopted. It is proved that the model-matching control is effective and adequate for uncertainties due to parameter variation and disturbances or perturbations to the vehicle system, which are shown in the responses of the changes in the vehicle mass, the road gradient and the cornering stiffness.
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Kumar, Swapnil, Rishiraj Bhattacharjee et P. Jeyapandiarajan. « Design and development of longitudinal vehicle dynamics for an All-terrain vehicle ». Materials Today : Proceedings 46 (2021) : 8880–86. http://dx.doi.org/10.1016/j.matpr.2021.05.085.
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Zhang, Qiang, Jun Xiao et Xiuhao Xi. « Estimation of Vehicle Longitudinal Speed Based on Improved Kalman Filter ». Journal of Physics : Conference Series 2113, no 1 (1 novembre 2021) : 012011. http://dx.doi.org/10.1088/1742-6596/2113/1/012011.
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Abstract Estimation of vehicle longitudinal acceleration is very important in vehicle active safety control system. In this paper, two driving conditions of a 4WD off-road vehicle are divided by vehicle signals such as steering angle. Under different working conditions, different estimation algorithms are adopted. In the straight driving condition, the longitudinal speed was estimated by adjusting the variance weight of acceleration Kalman observation noise based on kinematics method. For steering conditions, in order to obtain the longitudinal velocity at the center of mass, by dynamic method, a lateral state estimator was designed and tire sideslip dynamics was modeled. The CarSim-Simulink co-simulation results show that the proposed algorithm has high accuracy and strong practicability.
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Wang, Meng, Elmar Beeh, Ping Zhou et Horst E. Friedrich. « Concept design and dynamics analysis of a novel lightweight vehicle suspension combined with driving units ». Proceedings of the Institution of Mechanical Engineers, Part D : Journal of Automobile Engineering 234, no 4 (28 juillet 2019) : 1020–33. http://dx.doi.org/10.1177/0954407019866591.
Texte intégralRésumé :
A lightweighted suspension concept with integrated driving units into the longitudinal arm is proposed, to meet the increasing requirements from environments on both lightweight and propulsion to electric vehicles. This paper focuses on the structure concept design and ride dynamic analysis of the suspension with combined driving units. Besides conventional springs and shock absorbers, this concept suspension consists of a mass reduced axle structure, longitudinal arms, and electric driving units. The electric driving unit of the concept suspension arm is introduced by structural illustration first which in structure integrates the function as the suspension longitudinal arm and the function of electric propulsion to the vehicle. Meanwhile, a light brace structure with tube profiles is developed on the basis of topological optimization. Through the structure optimization, it can fulfill the suspension kinematic and compliance as well as mechanical requirements. The vehicle suspension realizes mass reduction not only from integration of driving units and suspension arm but also from structure optimization. In order to investigate the ride dynamics of the conceptual suspension, an analytical model for vehicle rear axle with a double lane road signal in accordance with International Organization for Standardization road surface profile is derived, with consideration of the integrated electric motor and linkage geometry. Simulation results are obtained to illustrate the ride dynamics in contrast to a conventional suspension benchmark. The simulation results indicate that the concept suspension has comparable ride dynamics performance as the reference suspension. Finally, the influences of the important parameters on ride dynamics are analyzed.
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Gagliardi, Gianfranco, Marco Lupia, Gianni Cario et Alessandro Casavola. « Optimal H∞ Control for Lateral Dynamics of Autonomous Vehicles ». Sensors 21, no 12 (13 juin 2021) : 4072. http://dx.doi.org/10.3390/s21124072.
Texte intégralRésumé :
This paper presents the design and validation of a model-based H∞ vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle’s longitudinal speed. In order to show the effectiveness of the proposed control strategy, simulations have been undertaken by taking advantage of a co-simulation environment jointly developed in Matlab/Simulink © and Carsim 8 ©. The simulation activity shows that the proposed control approach allows for good control performance to be achieved.
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Çoban, Sezer. « Autonomous performance maximization of research-based hybrid unmanned aerial vehicle ». Aircraft Engineering and Aerospace Technology 92, no 4 (18 avril 2020) : 645–51. http://dx.doi.org/10.1108/aeat-08-2019-0171.
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Purpose This paper aims to investigate the autonomous performance optimization of a research-based hybrid unmanned aerial vehicle (i.e. HUAV) manufactured at Iskenderun Technical University. Design/methodology/approach To maximize the autonomous performance of this HUAV, longitudinal and lateral dynamics were initially obtained. Then, the optimum magnitudes of the autopilot system parameters were estimated by considering the vehicle’s dynamic model and autopilot parameters. Findings After determining the optimum values of the longitudinal and lateral autopilots, an improved design for the autonomously controlled (AC) HUAV was achieved in terms of real-time flight. Practical implications Simultaneous improvement of the longitudinal and lateral can be used for better HUAV operations. Originality/value In this paper, the autopilot systems (i.e. longitudinal and lateral) of an HUAV are for the first time simultaneously designed in the literature. This helps the simultaneous improvement of the longitudinal and lateral flight trajectory tracking performances.
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Yu, Shuyou, Encong Sheng, Yajing Zhang, Yongfu Li, Hong Chen et Yi Hao. « Efficient Nonlinear Model Predictive Control of Automated Vehicles ». Mathematics 10, no 21 (7 novembre 2022) : 4163. http://dx.doi.org/10.3390/math10214163.
Texte intégralRésumé :
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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Julio-Rodríguez, Jose del C., Alfredo Santana-Díaz. et Ricardo A. Ramirez-Mendoza. « Individual Drive-Wheel Energy Management for Rear-Traction Electric Vehicles with In-Wheel Motors ». Applied Sciences 11, no 10 (20 mai 2021) : 4679. http://dx.doi.org/10.3390/app11104679.
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In-wheel motor technology has reduced the number of components required in a vehicle’s power train system, but it has also led to several additional technological challenges. According to kinematic laws, during the turning maneuvers of a vehicle, the tires must turn at adequate rotational speeds to provide an instantaneous center of rotation. An Electronic Differential System (EDS) controlling these speeds is necessary to ensure speeds on the rear axle wheels, always guaranteeing a tractive effort to move the vehicle with the least possible energy. In this work, we present an EDS developed, implemented, and tested in a virtual environment using MATLAB™, with the proposed developments then implemented in a test car. Exhaustive experimental testing demonstrated that the proposed EDS design significantly improves the test vehicle’s longitudinal dynamics and energy consumption. This paper’s main contribution consists of designing an EDS for an in-wheel motor electric vehicle (IWMEV), with motors directly connected to the rear axle. The design demonstrated effective energy management, with savings of up to 21.4% over a vehicle without EDS, while at the same time improving longitudinal dynamic performance.
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Ren, Pingli, Haobin Jiang et Xian Xu. « Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions ». Sensors 23, no 4 (8 février 2023) : 1888. http://dx.doi.org/10.3390/s23041888.
Texte intégralRésumé :
Research on the cooperative adaptive cruise control (CACC) algorithm is primarily concerned with the longitudinal control of straight scenes. In contrast, the lateral control involved in certain traffic scenes such as lane changing or turning has rarely been studied. In this paper, we propose an adaptive cooperative cruise control (CACC) algorithm that is based on the Frenet frame. The algorithm decouples vehicle motion from complex motion in two dimensions to simple motion in one dimension, which can simplify the controller design and improve solution efficiency. First, the vehicle dynamics model is established based on the Frenet frame. Through a projection transformation of the vehicles in the platoon, the movement state of the vehicles is decomposed into the longitudinal direction along the reference trajectory and the lateral direction away from the reference trajectory. The second is the design of the longitudinal control law and the lateral control law. In the longitudinal control, vehicles are guaranteed to track the front vehicle and leader by satisfying the exponential convergence condition, and the tracking weight is balanced by a sigmoid function. Laterally, the nonlinear group dynamics equation is converted to a standard chain equation, and the Lyapunov method is used in the design of the control algorithm to ensure that the vehicles in the platoon follow the reference trajectory. The proposed control algorithm is finally verified through simulation, and validation results prove the effectiveness of the proposed algorithm.
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Shankar, R. V. Shashank, et Rajagopalan Vijayakumar. « Numerical Study of the Effect of Wing Position on Autonomous Underwater Glider ». Defence Science Journal 70, no 2 (9 mars 2020) : 214–20. http://dx.doi.org/10.14429/dsj.70.14742.
Texte intégralRésumé :
Autonomous underwater gliders are a class of underwater vehicles that transit without the help of a conventional propeller. The vehicle uses a buoyancy engine to vary its buoyancy and with the help of the wings attached executes its motion. The hydrodynamic characteristics of the vehicle affect the longitudinal and turning motion. This paper discusses the effect of the wing’s position on the vehicle’s lift and drag characteristics. Computational fluid dynamics (CFD) tool is used to estimate the lift, drag, and pitching moment coefficients of the vehicle. The numerical methodology is validated using flow over NACA0012 wing results for low Reynolds numbers, and the results of CFD are discussed for possible application in estimation of glider motion.
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Hosseini-Pishrobat, Mehran, Mirali Seyedzavvar et 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 (1 mars 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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Burgelman, N., Z. Li et R. Dollevoet. « Effect of the Longitudinal Contact Location on Vehicle Dynamics Simulation ». Mathematical Problems in Engineering 2016 (2016) : 1–6. http://dx.doi.org/10.1155/2016/1901089.
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This paper investigates the effect of the calculation of the longitudinal location of a wheel rail contact point on the wheelset’s motion in a vehicle dynamic simulation. All current vehicle dynamic software programs assume that the contact between wheel and rail takes place in the vertical plane through the wheelset’s rolling axis. However, when the yaw angle of the wheelset is nonzero, the contact point is situated up to 10 mm from that plane. This difference causes a difference in the yaw moment on the wheelset which is used in the vehicle dynamic simulation. To such an end, an existing analytical method to determine the longitudinal method was validated using a numerical approach. Then vehicle dynamic simulations with both the classic and the new contact location were performed, concluding that using a more accurate contact point location results in a smaller wheelset yaw angle in a vehicle dynamic simulation, although the effect is small.
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Zhang, Li-Xia, Fu-Quan Pan, Hui Zhang et Ting Feng. « Modeling and simulation of minimum time-handling inverse dynamics of a vehicle ». Advances in Mechanical Engineering 10, no 7 (juillet 2018) : 168781401878608. http://dx.doi.org/10.1177/1687814018786089.
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The performance of a vehicle in minimum time handling is highly important for the safety of the vehicle. In this study, a vehicle motion state equation with 3 degrees of freedom was established on the basis of the lateral, yaw, and longitudinal motions of the vehicle. Equations on the linear tire and motion trajectory were established with consideration of longitudinal load transfer to establish the vehicle-handling dynamics model. Steering-wheel angle, driving force equation set, and yaw angle equation had been introduced to convert the vehicle-handling dynamics model into the vehicle-handling inverse dynamics model. By introducing performance index, control set, and several constraint conditions, an optimal control model of the vehicle minimum time handling was established, which was solved by improved direct multiple-shooting nonlinear programming method. A comparison of the simulation results of ADAMS/Car and MATLAB showed that both of the optimal routes input were in tangent with the road boundary. We can observe through the longitudinal velocity that the MATLAB simulation results are more similar to a straight line than that of the ADAMS/Car simulation results, which meet the psychological expectation of a driver. Thus, the inverse dynamics model on minimum time handling of the vehicle is reasonable and feasible.
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Janarthanan, B., Chandramouli Padmanabhan et C. Sujatha. « Longitudinal dynamics of a tracked vehicle : Simulation and experiment ». Journal of Terramechanics 49, no 2 (avril 2012) : 63–72. http://dx.doi.org/10.1016/j.jterra.2011.11.001.
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Blekhman, I., et E. Kremer. « Vertical-longitudinal dynamics of vehicle on road with unevenness ». Procedia Engineering 199 (2017) : 3278–83. http://dx.doi.org/10.1016/j.proeng.2017.09.361.
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