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This paper aims at proposing an improved generalized dynamic rollover threshold of multi-axial vehicles based on lateral load transfer ratio (LTR) and providing the foundation for rollover prediction. The study is carried out by utilizing vehicle handling dynamics to build a vehicle rollover model, which takes into account the characteristics of suspension and limit equilibrium of tires' lifting-off...
In recent years, substantial research efforts have been invested by industry and academia into the development of narrow tilting three wheeled vehicle technology as a viable alternative to four and two wheel vehicles for personal mobility. But there are challenges in order to make such vehicles safe, comfortable and acceptable to consumers. In this paper, a mathematical model of an electric narrow...
In this paper, the mathematical model of an electric vehicle, as well as the control system for avoiding pedestrians in urban traffic is described. The vehicle is modeled as a continuous system consisting of several subsystems. The discrete model of several sensors and actuators, a decision system, and low-level controllers for acceleration/braking and steering systems are added. Based on this model,...
Autonomous vehicles can risk dangerous rollover if they corner without taking roll motion into consideration. This paper proposes a control algorithm to follow a curved road while simultaneously preventing rollover. Model predictive control is applied to minimize roll motion throughout cornering. The prediction of vehicle state is based on a four-wheel nonlinear vehicle model with roll dynamics and...
Effects of different design parameters on the performance of a hybrid city bus were studied. A system simulation model of the hybrid city bus was developed and used for studying the effects of drive motor torque and vehicle mass on vehicle performance, fuel consumption and stability during regenerative braking. Increasing the maximum torque by 60 % from the nominal value was found to improve the fuel...
This research estimates the minimum intervention distance needed for a vehicle to safely avoid an obstacle, while also preventing wheel lift and tire skid. The intervention strategy considered is an open-loop lane change avoidance trajectory. As the vehicle approaches the obstacle, it continually determines the available lane change maneuver, relying on predictions of the Zero-Moment Point (ZMP) metric...
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...
The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the electric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with reduced friction. This paper discusses three control strategies for preventing loss of stability while...
In this paper, the Laguerre functions in model predictive control approach for active front and rear steering for path following of autonomous car vehicle is developed and presented. The method is based on three degree of freedom linear bicycle model with linear tire model approximation. The controller based on Laguerre functions is designed to follow the desired trajectory by stabilizing the vehicle...
The vehicle's steering wheel angle pulse input performance is an representative test of handling and stability, it characterizes vehicle's handling and stability by the transient response of the steering wheel angle pulse input. Taking the vehicle for example, in ADAMS software, vehicle dynamics model is built. According to GB/T6323.3-94 standards, the steering wheel angle pulse input virtual test...
This paper presents a linear dynamics model of tractor/full trailer with six degrees of freedom, and a series of simulations are performed on obstacle avoidance manoeuvers in which the combination vehicle moves at a constant forward speed. It is found that the ratio of the peak lateral acceleration of the full trailer's center of gravity (CG) to that of the tractor is 2.3, meanwhile, the articulated...
A multi-body dynamic model of Electric Power Steering (EPS) is set up by using ADAMS in this paper, and also a PID control strategy for the assist torque of EPS is described. The dynamic model & control system model are combined by ADAMS/Controls. Based on these, steering lightness and dynamic characteristic of vehicle are investigated by simulation analysis. The results show that the dynamic...
A Steady-State model with nine degrees of freedom primarily used in driving mode for motorized wheels electric vehicle has been developed, in which the related equations of motion and the state variables are deduced. With Matlab/Simulink software, the computer simulation model is built. The kinematics properties of the model have been studied by the simulation of constant velocity steering and accelerated...
Vehicle is a complex uncertain system with parameter perturbations and external disturbances; these uncertainties will easily result in the loss of vehicle driving stability. Tire cornering stiffness is a key influencing factor on maneuverability of vehicle. In order to maintain driving stability in vehicle cornering, through regarding tire cornering stiffness and outer disturbances as bounded uncertain...
To design reliably the products transportation simulation experiment system based on multi-body dynamics theory, vibration theory and virtual prototyping, the transportation vehicle subsystem simulation models such as fore and rear suspension, tire, vehicle body and steering are built and the whole vehicle virtual model is assembled, through the application of multi-body dynamics software (ADAMS)...
In this paper, six DOF model has been established for non-independent suspension vehicle with Robertson - Widenborg multi-body dynamics method. On this basis, Yaw velocity gain of a heavy vehicle was simulated by Matlab. The simulation results verified the model is reasonable. After further simulation, it indicates the model has theory significant for researching the handling and stability and designing...
This paper makes simulation and analysis of tire profile identification of the wheel model, the key technology of the tire identification is to determine the effective boundary of tire profile by the means of gradient judgment, to calculate axle deflective angle according to common tangent line between two effective smooth curves in tire profile, then to apply iterative contour matching method to...
Rollover is one of the main traffic accident forms for vehicle. According to the datas recently, rollover has become the second most serious accident. However, the study on rollover in China is at the beginning. The study on vehicle rollover is based on the theories of rollover. In order to optimize vehicle configuration,and enhance vehicle rollover stability,and ensure the road safety, rollover model...
In this paper, a six degree of freedom half body vehicle suspension system is developed. The neural network algorithm is used to control the suspension system. With the aid of software Matlab/Simulink, the simulation model is achieved. With changing of neural network coefficients, such as changing of training epoch and changing of the network structure, a lot of simulation work is done. Simulation...
In this paper, we propose a yaw moment control based on fuzzy-logic controller to enhance the vehicle stability. A two-degree-of-freedom nonlinear model of the considered vehicle is briefly presented. The feedback of the yaw rate and sideslip angle are regarded as inputs of the controller. The developed controller generates the suitable steering angle so that the vehicle follows the target values...
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