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A self-optimization routine integrated with the adaptation of the analytical tire model parameters is proposed for maximizing braking force without utilizing optimum slip value information. Most common extremum seeking algorithms in the open literature are searching for optimal operating point in order to maximize or minimize a given cost function which is measured on a real-time basis. The control...
In this study, a fuzzy logic controller with parameters tuned by Q-learning is proposed for the assisted power management of a pedelec. The pedelec is a human-electric hybrid vehicle driven by mainly the rider's pedal force with the assisted power from the electric motor. The proposed assisted power management (APM) method adaptively provides an appropriate assisted power (action) according to the...
This Paper focuses on controlling the value of Longitudinal Slip ratio using sliding mode control method for electric vehicles at different road conditions from the standpoint of stability and improving the performance. In this process sliding mode control is used to ensure robustness from the model parameter uncertainties and a control law is proposed based on Lyapunov stability theory to guarantee...
In this paper, a non-linear controller for collision avoidance in a heavy commercial road vehicle has been developed using Lyapunov theory. This paper considers the longitudinal dynamics of the vehicle, including the aerodynamic effect, the rolling resistance and the road grade. This paper also considers the maximum tire-road adhesion capacity and the braking capability of the vehicle. The developed...
In times of natural or man-made disasters, missions such as safe evacuation of people from the disaster areas have critical importance. Considering large areas with limited vehicle use such as theme parks and state fairs, search and rescue of the pedestrians is a major challenge. Moreover, as an effect of disaster, damages to infrastructure may disrupt the use of Internet services. Therefore, alternative...
This paper addresses the problem of lateral dynamics estimation of a vehicle and critical situations detection. For this purpose, two cascaded unknown input observers are designed which achieve finite time convergence. The system describing the lateral vehicle dynamics is decomposed into two sub-systems which are described with linear parameter varying models (LPV) according to the longitudinal velocity...
In this paper, we propose a robust model predictive vehicle control with restriction of wheel side-slip angle. The proposed method confines the wheel side slip angle to the range of small value in order to linearize the force model and to avoid tire force saturation which strongly depends on the tire-road coefficient of friction. The linearization greatly helps to improve the computational speed on...
This paper describes the development of mathematical model with a pump and a relief proportional valve used to control the pressure of a hydraulic system. This system controls an accelerated pavement testing machine designed to simulate the fatigue of a road structure. The pressure control system was composed by an Anti-Windup PID.
Interactive bicycle roaming system is a dynamic simulator system, integrating scene modeling, dynamics simulation and system concatenation. With roaming scene constructed through 3Dmax, models are loaded and managed by use of Opengl in this paper, the interactive roaming system interface is structured vividly and with a realistic effect. In addition, the paper emulates bicycle dynamics, directly showing...
An investigation in torque distribution of an electric vehicle with in-wheel motors has presented. To find an effective method of torque distribution, several strategies have been investigated. Analysis has been done here considering parameters in control and control law. At last a suitable torque distribution architecture is presented with simulation. Simulation results show a promising possibility...
Greater than 60 million American men who ride bicycles are at risk of developing erectile dysfunction. One possible reason is occlusion of the perineal arteries. Researchers relied on indirect methods and stationary models to study this problem. We developed a novel system to quantify occlusion among bicycle riders during a road bike ride. Our verification and validation activities show that this...
If the anti-slip regulation function can be attached to the conventional automatic transmission control system, the vehicle's tractive ability, steering capability and driving stability on the low friction road will all be improved greatly with very low additional hardware costs. Therefore, the extension of anti-slip regulation function on the automatic transmission control system has an important...
The wheelchair motion has propulsion and rotation components and the x-y axis signals of the joystick also can be expressed as the control command of these components. Using this phenomenon, the torque distribution method of two driving wheels and the model following control algorithm based on the propulsion and the rotation model of the electric wheelchair is proposed. The proposed torque distribution...
Considering the nonlinear characteristics, model uncertainties and the time-varying road conditions of ground vehicles, a novel traction controller for ground vehicles is presented using nonlinear robust modified sliding mode control method to solve the problem of skid braking and spin acceleration. The current wheel slip could be controlled at the optimal value using this method, so that it could...
This paper discusses some aspects of brush control techniques for a concept of a novel semi-autonomous road sweeper. One of the main difficulties of developing such a robot sweeping vehicle is that the general characteristics of the sweeping brushes are not well known. This study employs a FE model that calculates the brush deformation to assist the controller design. Using the FE model some useful...
Wheel skidding or spinning is dangerous for driving vehicles, and compared to conventional vehicles, electric vehicles are more easily to slip during driving on slippery road. In this paper, a novel traction control method based on wheel-slip control is proposed to improve the safety and stability of electric vehicles. Considering the high nonlinearity and uncertainties of the traction system, this...
The paper proposes a look-ahead control method in which traffic information is considered. Information about the local traffic is an important factor considering the wider transportation system. The purpose of the method is to reduce control energy and fuel consumption, keep speed limits and travelling time while preceding and following vehicles are taken into consideration. Consequently, the energy-efficient...
This study investigates the development of advanced driver assist systems (ADAS) using smart phones. The driver model parameters are estimated on-line based on the built-in sensors on the smart phone, including the GPS signals, camera, and the inertia measurement sensors (gyros and accelerometers). Further, the existing algorithms as presented in the literature will be employed to estimate the tire-road...
Collision Warning and Collision Avoidance (CW/CA) systems are automotive safety technologies that assist drivers in avoiding a collision. In this paper, a collision avoidance (CA) algorithm is proposed for heavy commercial vehicles based on a safe distance and a safe relative velocity. The work presented in this paper focuses on the inclusion of important air brake system parameters such as brake...
The paper proposes a look-ahead cruise control method considering both energy efficiency and the safety of vehicle motion. Based on the curve radius of the road, a method is proposed for the calculation of the safe cornering velocity, which is used in the look-ahead control design process. If the speed limit is in conflict with the calculated safe cornering velocity, the latter is applied in the energy...
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