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In this paper a Model Predictive Control (MPC) strategy is utilized to model a professional driver negotiating a set driving circuit in minimum time. MPC is inherently suboptimal because not all future information is incorporated into each horizon of the control scheme. Motivated by how professional drivers learn race circuits in order to best exploit its features, we will alleviate some of the suboptimality...
In this paper an integrated feed-forward lateral dynamics controller, which considers the actuator dynamics and input delays, is presented. The proposed approach uses an optimization based model inversion of a nonlinear two-track model with magic formula tire model to describe the vehicle dynamics. The model is extended by the actuator models containing delays, which are identified with measurement...
In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential...
A virtual prototype model of a McPherson front suspension is built that is used of ADAMS/Car and based on multi-body system dynamics and conducted the parallel wheel travel simulation. After sensitivity analysis of suspension design factor and optimization of multiple iterations using ADAMS/Insight, the design factor parameter that has great influence for the optimization goal sensitivity is found...
This paper presents a hierarchical approach to feedback-based trajectory generation for improved vehicle autonomy. Hierarchical vehicle-control structures have been used before—for example, in electronic stability control systems, where a low-level control loop tracks high-level references. Here, the control structure includes a nonlinear vehicle model already at the high level to generate optimization-based...
This paper presented a hierarchical vehicle-stability-control design based on the longitudinal force distribution optimization for the handling and stability control of the distributed-driven electric vehicle. The 8-DOF vehicle model and the three-layer control system were developed. By selecting the sideslip angle and the yaw rate as the state variables and introducing the virtual control to decouple...
The objective of the Holistic Corner Control (HCC) is to keep the vehicle on a target path by minimizing the error between the actual and target center of gravity (CG) forces and moment. A real time optimization procedure has been proposed in order to calculate the necessary tire force adjustments to minimize the error and to give the driver a normal driving feel even though the road conditions differ...
This paper presents a new methodology for the detection of critical situations for vehicle lateral dynamics, in order to improve the ESP systems. The principle of the approach rests on the modeling of the vehicle thanks to a bicycle model. The lateral tire forces are well known to be highly non-linear. However, in normal driving region, those force can be approximated as linear. The detection of the...
This paper focuses on the application of active suspensions to vehicles with solid-axles for medium and light duty trucks. These vehicles are prone to rollover issues and compromised ride quality. A cascade control structure is proposed considering a time scale analysis of the various modes in the vehicles' dynamics. The structure consists of: a) an upper level predictive anti-roll controller that...
Obstacle avoidance is a critical problem to solve for Unmanned Ground Vehicles (UGVs). The schemes of obstacle avoidance for UGVs are first discussed according to the structured environment road. The braking algorithm is discussed using moving horizon optimization based on differential flatness, where 3 DOF vehicle model is used to follow the planning trajectory for the obstacle avoidance of UGVs...
In-wheel motor drive (IWMD) is currently a hot topic in electric vehicle research and development for its remarkable advantages. But the extra wheel mass from the motor worsens vehicle ride comfort and road holding. Motor vibration is another problem, which does harm to motor performance and service life. As a trial response to the above problems, a 1/4 car model is established for electrical vehicles...
This paper investigates the multi-objective optimization of ride comfort, suspension deflection and tyre grip performance measures for a conventional suspension structure by deriving the analytical solutions for a quarter-car model. The optimization results are compared with two other configurations, one having the same complexity in construction but employing an inerter while the other being the...
In this paper, multi-objective control of a half-car suspension system is formulated as a mixed H2/H∞ synthesis problem and this convex problem is solved using linear matrix inequalities. Then, the control design problem is re-formulated as a non-convex and non-smooth optimization problem with fixed order controllers and solved by using the recently developed HIFOO toolbox. Parametric studies show...
This paper presents a hierarchical control framework for the obstacle avoidance of autonomous and semi-autonomous ground vehicles. The high-level planner is based on motion primitives created from a four-wheel nonlinear dynamic model. Parameterized clothoids and drifting maneuvers are used to improve vehicle agility. The low-level tracks the planned trajectory with a nonlinear Model Predictive Controller...
In this paper, a linear time-varying model-based predictive controller (LTV-MPC) for lateral vehicle guidance by front steering is proposed. Due to the fact that this controller is designed in the scope of a Collision Avoidance System, it has to fulfill the requirement of an appropiate control performance at the limits of vehicle dynamics. To achieve this objective, the introduced approach employs...
This paper presents an analytical method to analyze the motion of the steering trapezium and obtains the inner and outer steering wheel character. The effects of the steering trapezium parameter changing on the Ackerman steering characteristic studied, taking the ideal Ackerman angle as objective function and the vehicle's available space as constraint condition respectively, under the constraint...
This article designed a steering trapezoid of four-wheel steering construction vehicles with the MATLAB optimization toolbox. It solve out the relationship between the inside steering angle and outside steering angle in actual, to make the difference between the angle of inside wheel rotation in theoretical and angle of inside wheel rotation in actual minimum as the optimization goal, solving the...
According to the comfortability of the test evaluation standard, used appropriate tools to identify parameters of the FTire tire model and PAC2002 tire model respectively with ADAMS/Car vehicle model, this paper gives the research on vehicle ride simulation results of pulse excitation by triangular bump road. A comparative analysis between two kinds of tire model and the experimental results is made,...
A receding horizon steering controller is presented, capable of pushing an oversteering nonlinear vehicle model to its handling limit while travelling at constant forward speed. The controller is able to optimise the vehicle path, using a computationally efficient and robust technique, so that the vehicle progression along a track is maximised as a function of time. The resultant method forms part...
Based on electrical-mechanical analogies, a principle of vibration isolation was presented, and a new vehicle suspension employing inerter, which can ease conflicts among individual performance measures for conventional suspension and improve on passenger comfort, was designed. After a quarter-car model was established, parameters of the suspension were optimized, and performance benefits in the suspension...
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