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Shared control is an important approach to avoid the driver-out-of-the-loop problems brought by imperfect autonomous driving. Steer-by-wire technology allows the mechanical decoupling between the steering wheel and the road wheels. On steer-by-wire vehicles, the automation can join the control loop by correcting the driver steering input, which forms a new paradigm of shared control. The new framework,...
In this paper, a novel sliding mode (SM) control is developed for vehicle lane keeping. The proposed SM controller can enable the vehicle to track the reference road center-line and yaw direction with zero errors. The idea behind the SM controller are as follows: first, lateral vehicle dynamics system is divided into two subsystems. Lateral position error dynamics system is recognized as a predominant...
This paper presents a vehicle fleet control system for multiple autonomous vehicles based on an optimized Flocking method, considering the dynamic characters and constraints of vehicle. The whole control system is divided into two levels: one is plan level whose purpose is to solve the phenomena of actuator saturation, and the other is the tracking control level which is used to track reference states...
It is difficult to make a wheeled inverted pendulum vehicle (WIP) follow an arbitrary desired trajectory while holding the inverted pendulum-like vehicle upright. In this paper, based on the presented coupled dynamic model with four independent coordinates, both the vehicle nonholonomic constraints and underactuated property are depicted. Then, by partial feedback linearization, the overall system...
In this paper a novel method is presented for hierarchical control of autonomous vehicles consisting of high-level (HLC) and low-level (LLC) control systems. The LLC system can be commanded to assure a prescribed velocity and steering profile using PID-type active suspension, velocity and steering control. The outputs of the LLC system are the generalized forces and moments required by the vehicle...
In modern road vehicles, active braking control systems are crucial elements to ensure safety and lateral stability. Unfortunately, the wheel slip dynamics is highly nonlinear and the on-line estimation of the road-tire conditions is still a challenging open research problem. These facts make it difficult to devise a braking control system that is reliable in any situation without being too conservative...
In hospitals and care facilities, the care workers have to take care of many patients riding on a wheelchair for a stroll. The welfare vehicles like electric wheelchairs will take important roles not only to improve the quality of life of patients but also to reduce the load of care workers. The platoon driving of the wheelchair systems may become one of the effective leading methods of patients....
This paper presents a vehicle stability controller based on an adaptive sliding mode algorithm for yielding the vehicle yaw rate and side-slip angle to track their target values. The control law is derived using the yaw dynamics of a seven-degrees-of-freedom vehicle model, allowing the smallest yaw rate error to be achieved while maintaining the reasonable limits of the side-slip angle. The effectiveness...
In this paper a torque-to-slip model, oriented to the development of a traction control system based on wheel slip control for powered two-wheelers, is identified. A black-box identification approach is employed to find model parameters, using I/O experimentally measured data. Different tests are employed to analyse different features of the inquired dynamics. In particular, a PRBS based identification...
This paper proposes Composite Nonlinear Feedback (CNF) controller application for yaw rate tracking control of active front steering (AFS) for vehicle equipped by Steer-by-Wire (SBW). CNF controller is used in AFS system to achieve a fast tracking response of yaw rate according to the desired response and to generate correction steer angle input to enhance vehicle maneuverability. A 2-DOF linear vehicle...
This paper proposes a new driver support system which uses both the steering wheel angle and the steering torque of the vehicle so as to take into account the characteristics of the driver's operation. The proposed method is based on a gain scheduling control to accomplish the cooperation between the driver and the support system. By numerical experiments which simulate obstacle avoidance, it is shown...
Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels...
Work deals with fundamental algorithms for vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic - dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported to Matlab/SIMULINK...
The paper presents a concept, development and comparison of selected control algorithms used in distributed control system of a three wheeled vehicle. First simulations are carried out, then the selected algorithms are tested on a real vehicle. The article includes the description of the mathematical model of the tricycle: kinematics, dynamics, motor drives, central control system, communication network...
The article presents a synthesis of tricycle model with a unique concept of electric power. Conventional, mechanical coupling of a drive wheel with pedals has been replaced by the use of generator and independent motor drives. The essence of the model includes a distributed form of control system. The paper shows the genesis of the project and the motivation that results from the need to verify the...
A robust wheel slip ratio controller for in-wheel-motor-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems is designed in this paper. Based on an integration of optimal predictive control design and Lyapunov theory, the issue of uncertain vehicle parameters is addressed. The corresponding braking torque distribution strategy...
The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slipangle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation...
Active steering control is one of the approach that can be used to improve the vehicle's lateral and yaw stability. By combining active front steering and active rear steering control, the vehicle's handling and stability can be improved via four wheel active steering (4WAS) control. In this paper, a robust control algorithm of sliding mode control is designed for 4WAS vehicle. Single track 2 d.o...
This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is...
This paper researches the yaw dynamics of a plug-in hybrid vehicle with powerfull electric machine mounted on the rear shaft. The power split between the front and rear wheels may induce negative effects on the vehicle yaw stability and vehicle handling. Takagi-Sugeno (TS) modeling is used to design a static output feedback to control the yaw dynamics. Simulations using a detailed vehicle model allow...
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