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1
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.
Повний текст джерелаАнотація:
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.
2
CORNELIU, LAZAR, and TIGANASU ALEXANDRU. "Control-Oriented Models for vehicle longitudinal motion." Journal of Engineering Sciences and Innovation 3, no. 3 (September 16, 2018): 251–64. http://dx.doi.org/10.56958/jesi.2018.3.3.251.
Повний текст джерелаАнотація:
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.
3
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.
Повний текст джерелаАнотація:
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.
4
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.
Повний текст джерелаАнотація:
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.
5
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.
Повний текст джерелаАнотація:
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.
6
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.
Повний текст джерелаАнотація:
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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Fauzi, Ahmad, Saiful Amri Mazlan, and Hairi Zamzuri. "Modeling and Validation of Quarter Vehicle Traction Model." Applied Mechanics and Materials 554 (June 2014): 489–93. http://dx.doi.org/10.4028/www.scientific.net/amm.554.489.
Повний текст джерелаАнотація:
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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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.
Повний текст джерелаАнотація:
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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Dai, L., L. Xu, and B. Setiawan. "A new non-linear approach to analysing the dynamic behaviour of tank vehicles subjected to liquid sloshing." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 219, no. 1 (March 1, 2005): 75–86. http://dx.doi.org/10.1243/146441905x9944.
Повний текст джерелаАнотація:
This research presents a new approach to investigating the non-linear dynamic behaviour of partially filled tank vehicles under large-amplitude liquid sloshing. A non-linear impact model for liquid sloshing in partially filled liquid tank vehicles is established for investigating the longitudinal dynamic characteristics of tank vehicles under typical driving conditions. The dynamic fluid motion within the tank is modelled by utilizing an analogy system together with an impact subsystem for longitudinal oscillations. The forces on the fifth wheel and the axles of the vehicle are determined in considering the effects of the liquid sloshing in the tank. The non-linear dynamic behaviours of the tank vehicle subjected to liquid sloshing and the excitations generated by rough roads are analysed and compared with those of linear models. Numerical simulation of the tank vehicle under typical rough road conditions is performed.
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Nie, Xiaobo, Chuan Min, Yongjun Pan, Ke Li, and Zhixiong Li. "Deep-Neural-Network-Based Modelling of Longitudinal-Lateral Dynamics to Predict the Vehicle States for Autonomous Driving." Sensors 22, no. 5 (March 4, 2022): 2013. http://dx.doi.org/10.3390/s22052013.
Повний текст джерелаАнотація:
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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Zhao, Linhui, and 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.
Повний текст джерелаАнотація:
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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Crăciun, Camil Ion, and Cătălin Cruceanu. "The effects of filling characteristics on the longitudinal forces developed in the braking train." MATEC Web of Conferences 290 (2019): 08005. http://dx.doi.org/10.1051/matecconf/201929008005.
Повний текст джерелаАнотація:
Determination of longitudinal dynamic forces, size assessment as well as their distribution in the train body is, and will be a subject of global research. As observed from the beginning of the evolution of the railway vehicle and the train itself, the main reason for the occurrence of longitudinal dynamic forces is represented by the differences in inertial forces between the consecutive train vehicles. These inertial forces are influenced by the braking forces developed on each vehicle. The brake with which a railway vehicle is equipped is the pneumatic brake with compressed air. It evacuates the air from the train’s general pipeline, increasing the pressure in the brake cylinders of each vehicle. The brake command and cylinder filling is more delayed on long trains compared to short ones. Thus, the brake can operate in two ways, the fast-action brake and the slow-action brake. In this paper, we aim to highlight the influence of the brake type by the brake cylinder filling characteristic of the dynamic longitudinal reactions. It will be analysed on a simplified train model the magnitude and distribution of longitudinal dynamic forces obtained using both braking systems.
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Li, Yongming, Shou Ma, Kunting Yu, and 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.
Повний текст джерелаАнотація:
<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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Zhu, Tao, Sijing Liu, Shou-ne Xiao, and Quanwei Che. "Train collision dynamic model considering longitudinal and vertical coupling." Advances in Mechanical Engineering 11, no. 1 (January 2019): 168781401882396. http://dx.doi.org/10.1177/1687814018823966.
Повний текст джерелаАнотація:
The train collision dynamic theory is an acceptable method for new vehicle design, which can save a great deal of simulation and experimentation. A train collision dynamic model that considers the longitudinal and vertical coupling is established. The vehicle subsystem and the track subsystem are also considered in the model through the function of the link between the wheel/rail subsystems and the coupler buffer/anti-climber subsystems. The entire train model is analyzed with a coupled feedback system. The dynamic simulation program of the coupled system is developed, the calculation flow of the coupled model is given, and the explicit time domain solution of the model is realized. Two numerical examples with the same kind of vehicle were completed, and the numerical results are compared with the finite element simulation results. The results show that the coupled model is not only close to the finite element model but also greatly shortens the solution time of the collision response. The accuracy and theory of the collision dynamics model in this article are verified. The results of the paper provide new theoretical evidence and a simulation method for further research on the design of the crashworthiness of rail vehicle structures and the collision dynamic evolution during a train collision.
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Zhou, Haichao, Huiyun Li, Jian Yang, Qingyun Chen, Guolin Wang, Tong Han, Jieyu Ren, and Te Ma. "A Strain-Based Method to Estimate Longitudinal Force for Intelligent Tires by Using a Physics-Based Model." Strojniški vestnik – Journal of Mechanical Engineering 67, no. 4 (April 26, 2021): 153–66. http://dx.doi.org/10.5545/sv-jme.2020.7068.
Повний текст джерелаАнотація:
Tires are essential components of vehicles and the only vehicle components in contact with the road. The tire longitudinal force originating from the contact between the tire and road can enhance traction and braking and contribute to the directional stability of vehicles. If the longitudinal tire force can be accurately estimated, vehicle safety can be improved. This study established a longitudinal tire physics-based model combining the brush model with the flexible ring model to develop a strain-based intelligent tire system for estimating the longitudinal tire force. The developed longitudinal dynamic model was used to study tire strain characteristics under pure longitudinal slip conditions. An algorithm was developed for estimating the longitudinal tire force through feature extraction and data fitting of the tire strain. A finite-element tire model was established to simulate the longitudinal force. Comparing the simulated and estimated forces indicated that the proposed algorithm can accurately predict the longitudinal force of intelligent tires and thus provide useful information to vehicle stability control systems.
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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.
Повний текст джерелаАнотація:
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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Zhang, Wei, Hai Ou Liu, and Hui Yan Chen. "Longitudinal Dynamic Model of AMT Vehicle for Following Condition." Advanced Materials Research 179-180 (January 2011): 403–8. http://dx.doi.org/10.4028/www.scientific.net/amr.179-180.403.
Повний текст джерелаАнотація:
As an important part of vehicle following control system, vehicle longitudinal dynamic model had significant effect on the research and development phases. The clutch engaging and exhaust brake process of AMT vehicle represented strong nonlinearity, and the theoretical models were complex and depended on many parameters. Focusing on the requirement of following control system, the models of the two processes above were simplified for the engineering application by combining theoretical analysis and real vehicle test data to describe the dynamic processes. Finally, the vehicle model based on MATLAB was build and the comparative experiments were conducted. The comparative results show that the simulation results agree well with the real vehicle tests.
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Ling, Hongwei, and 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 (September 11, 2021): 1–11. http://dx.doi.org/10.1155/2021/5399588.
Повний текст джерелаАнотація:
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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Shi, Yuntao, Ye Li, Qing Cai, Hao Zhang, and Dan Wu. "How Does Heterogeneity Affect Freeway Safety? A Simulation-Based Exploration Considering Sustainable Intelligent Connected Vehicles." Sustainability 12, no. 21 (October 28, 2020): 8941. http://dx.doi.org/10.3390/su12218941.
Повний текст джерелаАнотація:
Intelligent connected vehicles (ICVs) are recognized as a new sustainable transportation mode, which could be promising for reducing crashes. However, the mixed traffic consisting of manually driven vehicles and ICVs may negatively affect road safety due to individual heterogeneity. This study investigated heterogeneity effects on freeway safety-based simulation experiments. Two types of vehicle dynamic models were employed to depict dynamic behaviors of manually driven vehicles and adaptive cruise control (ACC) vehicles (a simplified version of ICVs), respectively. Real vehicle trajectories were utilized to calibrate model parameters based on genetic algorithms. Surrogate safety measures were applied to establish the relationship between vehicle behaviors and longitudinal collision risks. Simulation results indicate that the heterogeneity has negative effects on longitudinal safety. With the higher degree of heterogeneity, longitudinal collision risks are increased. Compared to traffic flow consisting of human drivers only, mixed traffic flow may be more dangerous when the market penetration rate of ACC is low, since the ACC system can be recognized as a new source of individual heterogeneity. Findings of this study show that necessary countermeasures should be developed to improve safety for mixed traffic flow from the perspective of transportation safety planning in the near future.
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Pak, Alexander Olegovich, and Vyacheslav Alexandrovich Shein. "MATHEMATICAL DESCRIPTION AND MODELING OF LONGITUDINAL VEHICLE DYNAMIC." Theoretical & Applied Science 92, no. 12 (December 30, 2020): 409–17. http://dx.doi.org/10.15863/tas.2020.12.92.78.
Повний текст джерела
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Roorda, Matthew J., Abolfazl Mohammadian, and Eric J. Miller. "Toronto Area Car Ownership Study: A Retrospective Interview and Its Applications." Transportation Research Record: Journal of the Transportation Research Board 1719, no. 1 (January 2000): 69–76. http://dx.doi.org/10.3141/1719-09.
Повний текст джерелаАнотація:
Recent work in the area of comprehensive transportation modeling systems in a microsimulation framework, more specifically auto ownership modeling, has recognized the need for increased experimentation with dynamic models. Implicitly, dynamic models require longitudinal data. A Toronto area car ownership study was conducted to design and administer a longitudinal survey to fulfill the data requirements for such a dynamic model, to validate the survey results, and to conduct preliminary analysis on those results. An in-depth retrospective telephone survey was conducted with the help of a computer aid in Toronto, Canada. Simple univariate analyses were conducted on the data to determine the relationship between characteristics of the household and the occurrence of vehicle transactions, the choice of vehicle type, the duration a vehicle is held, and the degree of consumer loyalty to different types of vehicles.
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Yang, Rui Guang, Jian Qiao Yu, and Yuan Chuan Shen. "Flight Dynamic Characteristic Analysis of a Generic Airbreathing Hypersonic Vehicle." Applied Mechanics and Materials 716-717 (December 2014): 724–29. http://dx.doi.org/10.4028/www.scientific.net/amm.716-717.724.
Повний текст джерелаАнотація:
Because of the high speed, strong coupling between aerodynamics and propulsion system, complex environmental conditions and new propulsion system, the airbreathing hypersonic vehicles have a complex dynamics characteristic. This paper use the generic hypersonic vehicle model (CSULA-GHV) to research this issue. The nonlinear longitudinal equations of motion are linearized based on the assumption of little perturbation. Analyze the dynamic characteristic on a feature point selected. The results show that, the stability of this model is poor. It has to design an efficient controller to adjust the poor stability.
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Chen, Gang, and 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 (January 19, 2015): 74–82. http://dx.doi.org/10.1108/ir-06-2014-0353.
Повний текст джерелаАнотація:
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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Napolitano Dell’Annunziata, Guido, Vincenzo Maria Arricale, Flavio Farroni, Andrea Genovese, Nicola Pasquino, and Giuseppe Tranquillo. "Estimation of Vehicle Longitudinal Velocity with Artificial Neural Network." Sensors 22, no. 23 (December 6, 2022): 9516. http://dx.doi.org/10.3390/s22239516.
Повний текст джерелаАнотація:
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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Girbés, Vicent, Daniel Hernández, Leopoldo Armesto, Juan Dols, and Antonio Sala. "Drive Force and Longitudinal Dynamics Estimation in Heavy-Duty Vehicles." Sensors 19, no. 16 (August 11, 2019): 3515. http://dx.doi.org/10.3390/s19163515.
Повний текст джерелаАнотація:
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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Precup, Radu-Emil, Stefan Preitl, Claudia-Adina Bojan-Dragos, Mircea-Bogdan Radac, Alexandra-Iulia Szedlak-Stinean, Elena-Lorena Hedrea, and Raul-Cristian Roman. "AUTOMOTIVE APPLICATIONS OF EVOLVING TAKAGI-SUGENO-KANG FUZZY MODELS." Facta Universitatis, Series: Mechanical Engineering 15, no. 2 (August 2, 2017): 231. http://dx.doi.org/10.22190/fume170505011p.
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This paper presents theoretical and application results concerning the development of evolving Takagi-Sugeno-Kang fuzzy models for two dynamic systems, which will be viewed as controlled processes, in the field of automotive applications. The two dynamic systems models are nonlinear dynamics of the longitudinal slip in the Anti-lock Braking Systems (ABS) and the vehicle speed in vehicles with the Continuously Variable Transmission (CVT) systems. The evolving Takagi-Sugeno-Kang fuzzy models are obtained as discrete-time fuzzy models by incremental online identification algorithms. The fuzzy models are validated against experimental results in the case of the ABS and the first principles simulation results in the case of the vehicle with the CVT.
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Burgelman, N., Z. Li, and 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, Qiang, Jun Xiao, and Xiuhao Xi. "Estimation of Vehicle Longitudinal Speed Based on Improved Kalman Filter." Journal of Physics: Conference Series 2113, no. 1 (November 1, 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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Le, Quang, Anh Tuan Phan, and Thi Thanh Huong Pham. "Hydrodynamic and Dynamic Analysis to Determine the Longitudinal Hydrodynamic Coefficients of an Autonomous Underwater Vehicle." Journal of Science and Technology - Technical Universities 30.7, no. 146 (November 2020): 43–48. http://dx.doi.org/10.51316/30.7.8.
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A useful tool for understanding the performance of an Autonomous Underwater Vehicle (AUV) is a dynamic simulation of the motions of the vehicle. To perform the simulation, the hydrodynamic coefficients of the vehicle must be first provided. These coefficients are specific to the vehicle and provide the description of hydrodynamic forces and moments acting on the vehicle in an underwater environment. This paper provides a method for the calculation and evaluation of the hydrodynamic coefficients of an AUV. The presence methodology is therefore one useful tool for determining an underwater vehicle’s dynamic stability. The calculated values have been compared with experimental results of a torpedo shape. It was concluded that the methods could calculate accurate values of the hydrodynamic coefficients for a specific AUV shape with its elliptical nose
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Wan, Ying, Li Mai, and Zhi Gen Nie. "Dynamic Modeling and Analysis of Tank Vehicle under Braking Situation." Advanced Materials Research 694-697 (May 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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Yu, Yinghong, Yinong Li, Yixiao Liang, Ling Zheng, and Wei Yang. "Dynamic Decoupling and Trajectory Tracking for Automated Vehicles Based on the Inverse System." Applied Sciences 10, no. 21 (October 22, 2020): 7394. http://dx.doi.org/10.3390/app10217394.
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A simultaneous trajectory tracking and stability control method is present for the four-wheel independent drive (4WID) automated vehicles to handle dynamic coupling maneuvers. To conquer the disadvantage that attendant disturbances caused by the dynamic coupling of traditional decentralized control methods degenerate the trajectory tracking accuracy, the proposed method takes advantage of the idea of decoupling to optimize the tracking performance. After establishing the dynamic model of the 4WID automated vehicles, the coupling mechanism of the vehicle dynamic control and its negative effect on trajectory tracking were studied at first. The inverse system model was then determined by machine learning and connected in series with the controlled object to form a pseudo linear system to realize dynamic decoupling. Finally, differing from previous tracking methods following the apparent lateral position and longitudinal velocity references, the pseudo linear system tracks the ideal intermediate targets transferred from the target trajectory, that is, the accelerations of vehicle in longitudinal, lateral and yaw directions, to indirectly achieve trajectory tracking and validly restrain the vehicle motion. The effectiveness of the proposed method, i.e., the high tracking accuracy and the stable driving performance, is verified through three coupling driving scenarios in the CarSim-Simulink co-simulations platform.
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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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Grumondz, V. T., R. V. Pilgunov, M. V. Vinogradov, and 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) (February 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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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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Lechner, D., and C. Perrin. "The Actual Use of the Dynamic Performances of Vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 207, no. 4 (October 1993): 249–56. http://dx.doi.org/10.1243/pime_proc_1993_207_190_02.
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INRETS (France) has carried out research work to determine to what extent drivers make use of the dynamic performances of vehicles in the course of everyday driving. A sample of drivers from varied backgrounds drove over a set distance, including all types of road infrastructures, at the wheel of a specially instrumented vehicle. The data analysis shows that longitudinal and lateral accelerations are low in everyday driving. Significant inter-individual variations in the behaviour of drivers, when at the wheel of the same vehicle, over the same stretch of road, were also revealed.
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Çoban, Sezer. "Autonomous performance maximization of research-based hybrid unmanned aerial vehicle." Aircraft Engineering and Aerospace Technology 92, no. 4 (April 18, 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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Julio-Rodríguez, Jose del C., Alfredo Santana-Díaz., and Ricardo A. Ramirez-Mendoza. "Individual Drive-Wheel Energy Management for Rear-Traction Electric Vehicles with In-Wheel Motors." Applied Sciences 11, no. 10 (May 20, 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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Nie, Xiaobo, Chuan Min, Yongjun Pan, Zhixiong Li, and 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 (June 21, 2022): 4676. http://dx.doi.org/10.3390/s22134676.
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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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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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Abdollahzadeh Nasiri, Amir Saman, Omid Rahmani, Ali Abdi Kordani, Nader Karballaeezadeh, and Amir Mosavi. "Evaluation of Safety in Horizontal Curves of Roads Using a Multi-Body Dynamic Simulation Process." International Journal of Environmental Research and Public Health 17, no. 16 (August 17, 2020): 5975. http://dx.doi.org/10.3390/ijerph17165975.
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Road transportation poses one of the significant public health risks. Several contributors and factors strongly link public health and road safety. The design and advancement of higher-quality roads can significantly contribute to safer roads and save lives. In this article, the safety aspect of the roads’ horizontal curves under the standard of the American Association of State Highway Transportation Officials (AASHTO) is evaluated. Several factors, including vehicle weight, vehicle dimensions, longitudinal grades, and vehicle speed in the geometric design of the horizontal curves, are investigated through a multi-body dynamic simulation process. According to the AASHTO, a combination of simple circular and clothoid transition curves with various longitudinal upgrades and downgrades was designed. Three vehicles were used in this simulation, including a sedan, a bus, and a 3-axle truck. The analysis was based on the lateral friction between the tire and the pavement and also the safety margin parameter. The results showed that designers must differentiate between light and heavy vehicles, especially in curves with a high radius. Evaluation of longitudinal grade impacts indicated that the safety margin decreases when the vehicle is entering the curve. Safety margin reduction on the clothoid curve takes place with a lower grade toward the simple circular curve. By increasing the speed, the difference between lateral friction demand obtained from simulation and lateral friction demand proposed by AASHTO grows. The proposed novel methodology can be used for evaluating road safety.
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Xu, Liwei, Guodong Yin, Guangmin Li, Athar Hanif, and Chentong Bian. "Stable trajectory planning and energy-efficience control allocation of lane change maneuver for autonomous electric vehicle." Journal of Intelligent and Connected Vehicles 1, no. 2 (June 11, 2018): 55–65. http://dx.doi.org/10.1108/jicv-12-2017-0002.
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Purpose The purpose of this paper is to investigate problems in performing stable lane changes and to find a solution to reduce energy consumption of autonomous electric vehicles. Design/methodology/approach An optimization algorithm, model predictive control (MPC) and Karush–Kuhn–Tucker (KKT) conditions are adopted to resolve the problems of obtaining optimal lane time, tracking dynamic reference and energy-efficient allocation. In this paper, the dynamic constraints of vehicles during lane change are first established based on the longitudinal and lateral force coupling characteristics and the nominal reference trajectory. Then, by optimizing the lane change time, the yaw rate and lateral acceleration that connect with the lane change time are limed. Furthermore, to assure the dynamic properties of autonomous vehicles, the real system inputs under the restraints are obtained by using the MPC method. Based on the gained inputs and the efficient map of brushless direct-current in-wheel motors (BLDC IWMs), the nonlinear cost function which combines vehicle dynamic and energy consumption is given and the KKT-based method is adopted. Findings The effectiveness of the proposed control system is verified by numerical simulations. Consequently, the proposed control system can successfully achieve stable trajectory planning, which means that the yaw rate and longitudinal and lateral acceleration of vehicle are within stability boundaries, which accomplishes accurate tracking control and decreases obvious energy consumption. Originality/value This paper proposes a solution to simultaneously satisfy stable lane change maneuvering and reduction of energy consumption for autonomous electric vehicles. Different from previous path planning researches in which only the geometric constraints are involved, this paper considers vehicle dynamics, and stability boundaries are established in path planning to ensure the feasibility of the generated reference path.
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Koo, Shiang-Lung, and Han-Shue Tan. "Tire Dynamic Deflection and Its Impact on Vehicle Longitudinal Dynamics and Control." IEEE/ASME Transactions on Mechatronics 12, no. 6 (December 2007): 623–31. http://dx.doi.org/10.1109/tmech.2007.910073.
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Acuña, Marcelo Andrés, Gustavo Simão Rodrigues, Rafael Vitor Guerra Queiroz, and Elias Dias Rossi Lopes. "Modeling and dynamic analysis of a 6 x 6 heavy military truck by adaptive model predictive control with application to NATO lane change test course." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 13 (June 10, 2020): 3128–44. http://dx.doi.org/10.1177/0954407020924156.
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In this paper, the computer-aided vehicle dynamic analysis of a 6x6 heavy military truck is presented and examined. For the analysis, a MATLAB/Simulink® platform is used to design and model a truck. The vehicle configuration taken into account for the analysis is the powertrain (engine, gear box, transfer gear, differential), suspension, steering system and tire model according to the Pacekja 89’ formulation. In addition, the effect of the rolling resistance and drag is considered, in order to represent the vehicle behavior as real as possible. The longitudinal dynamic and lateral dynamic are formulated. First, the longitudinal dynamic model is established by means of implementation of the weight transfer function. The vehicles are considered as rigid bodies with 1 degree of freedom. Second, the vehicular planar model with three wheels, well known as bicycle model, is applied following the North Atlantic Treaty Organization double line change maneuver test reaching 3 degree of freedom. The driver behavior is represented by using an adaptive model predictive control varying the longitudinal velocity. The forces for braking, inertia of the rotating components, the energy lost in the powertrain, and the effect of dive squat and rollover. The numerical simulation results are shown and compared with a full-vehicle model formed by using Mechanical Simulation Corporation’s truckSIM®. There were chosen simulation scenarios applied to the model to observe the effects of different parameters concerning the dynamic behavior, and also prepared in truckSIM® environment. The main contributions of this article are the development of the vehicular model, through the use of block diagrams in a reliable and relatively simple programming code such as MATLAB/Simulink®, with innovative tools used in the control of autonomous vehicle driving and the flexibility to adapt said model to different environmental conditions and different vehicle parameters.
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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 (March 20, 2011): 1–13. http://dx.doi.org/10.25105/jti.v1i1.6989.
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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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Alexa, Octavian, Marin Marinescu, Marian Truta, Radu Vilau, and Valentin Vinturis. "Simulating the Longitudinal Dynamics of a Tracked Vehicle." Advanced Materials Research 1036 (October 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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Li, Rong, and Wei Min Li. "Analysis of Vehicle Dynamic Equilibrium Points with 3-DOF Based on Genetic Algorithm." Applied Mechanics and Materials 608-609 (October 2014): 721–25. http://dx.doi.org/10.4028/www.scientific.net/amm.608-609.721.
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To further study the stability of vehicle dynamics, a vehicle handling stability’s nonlinear model (including longitudinal, lateral and yaw movement three degrees of freedom) was established. Genetic algorithm was proposed for the vehicle dynamics system’s equilibrium points with 3-DOF. This algorithm solves the problem that cannot be solved through the traditional analytic algorithms and numerical methods. Comparing with the existing research results, the feasibility of solving the equilibrium point by the genetic algorithm is verified. It provides the theoretical foundation for dynamic modification and optimization design of powertrain.
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Zhu, Shengyang, Jun Luo, Mingze Wang, and Chengbiao Cai. "Mechanical characteristic variation of ballastless track in high-speed railway: effect of train–track interaction and environment loads." Railway Engineering Science 28, no. 4 (November 30, 2020): 408–23. http://dx.doi.org/10.1007/s40534-020-00227-6.
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AbstractDue to the fact that ballastless tracks in high-speed railways are not only subjected to repeated train–track dynamic interaction loads, but also suffer from complex environmental loads, the fundamental understanding of mechanical performance of ballastless tracks under sophisticated service conditions is an increasingly demanding and challenging issue in high-speed railway networks. This work aims to reveal the effect of train–track interaction and environment loads on the mechanical characteristic variation of ballastless tracks in high-speed railways, particularly focusing on the typical interface damage evolution between track layers. To this end, a finite element model of a double-block ballastless track involving the cohesive zone model for the track interface is first established to analyze the mechanical properties of the track interface under the loading–unloading processes of the negative temperature gradient load (TGL) followed by the same cycle of the positive TGL. Subsequently, the effect of wheel–rail longitudinal interactions on the nonlinear dynamic characteristics of the track interface is investigated by using a vehicle-slab track vertical-longitudinal coupled dynamics model. Finally, the influence of dynamic water pressure induced by vehicle dynamic load on the mechanical characteristics and damage evolution of the track interface is elucidated using a fluid–solid coupling method. Results show that the loading history of the positive and negative TGLs has a great impact on the nonlinear development and distribution of the track interface stress and damage; the interface damage could be induced by the wheel–rail longitudinal vibrations at a high vehicle running speed owing to the dynamic amplification effect caused by short wave irregularities; the vehicle dynamic load could produce considerable water pressure that presents nonlinear spatial–temporal characteristics at the track interface, which would lead to the interface failure under a certain condition due to the coupled dynamic effect of vehicle load and water pressure.
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Haris, Sharil Izwan, Fauzi Ahmad, Mohd Hanif Che Hassan, and Ahmad Kamal Mat Yamin. "The Experimental Evaluation of Cone Wedge Shape based Electronic Wedge Brake Mechanism in Vehicle Braking System." Automotive Experiences 5, no. 3 (September 6, 2022): 433–51. http://dx.doi.org/10.31603/ae.7112.
Повний текст джерелаАнотація:
The brake system is one of the most critical parts of a vehicle's technology for avoiding accidents. The ultimate focus of the braking system is to guarantee that adequate stopping force is available to stop the vehicle's longitudinal movement. Therefore, the ability of a brake system to stop a vehicle must be examined in terms of analyzing the brake system's performance and the implementation of the brake system on actual vehicles. This study offers a performance evaluation of the Electronic Wedge Brake based on the Cone Wedge Shape (CW-EWB) on the vehicle brake systems. The evaluation was carried out through dynamic assessments, namely sudden braking tests at constant speeds of 40, 60, and 90 km/h using the MATLAB Simulink software simulation method and an experimental study using hardware-in-loop simulation (HILS). In the simulation study, the performance of the vehicle brake system using CW-EWB was compared with the brake performance of the vehicle using the conventional hydraulic brake (CHB). The results showed that CW-EWB behaved similarly to the hydraulic brake in terms of required brake torque output but with a faster response time, i.e., between 0.5 – 1 s. The HILS experimental study was conducted to evaluate the performance of the CW-EWB on actual vehicles. This method confirmed the HILS results against the simulation results with a variable response time of less than 6%. Vehicle body speed, wheel speed, longitudinal tire slip, and stopping distance experienced by the vehicle were all evaluated. The study's findings show that the proposed CW-EWB is quite effective and sufficiently dependable to be used as a vehicle brake system, notably in Antilock Braking Systems.
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Poh Ping, Em, J. Hossen, and Wong Eng Kiong. "Lane Departure Warning Estimation Using Yaw Acceleration." Open Engineering 11, no. 1 (November 19, 2020): 102–11. http://dx.doi.org/10.1515/eng-2021-0008.
Повний текст джерелаАнотація:
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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Chen, Keji, Xiaofei Pei, Guocheng Ma, and Xuexun Guo. "Longitudinal/Lateral Stability Analysis of Vehicle Motion in the Nonlinear Region." Mathematical Problems in Engineering 2016 (2016): 1–15. http://dx.doi.org/10.1155/2016/3419108.
Повний текст джерелаАнотація:
We focus on the study of motion stability of vehicle nonlinear dynamics. The dynamic model combining with Burckhardt tire model is firstly derived. By phase portrait method, the vehicle stability differences of three cases, front wheels steering/four-wheel steering case, front/rear/four-wheel braking case, and high/low road friction case, are characterized. With the Jacobian matrix, the stable equilibrium point is found and stable areas are calculated out. Similarly, the stability boundaries corresponding to different working conditions are also captured. With vehicle braking or accelerating in the steering process, the relationship between front/rear wheel slippage and the stable area is examined. Comparing with current literatures, the research method and its results present the novelty and provide a guideline for new vehicle controller design.