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In [5] it was shown that, for a standard quarter-car vehicle model and a road disturbance whose velocity profile is white noise of intensity A, the mean power dissipated in the suspension is equal to kA/2 where k is the tyre vertical stiffness. It is remarkable that the power dissipation turns out to be independent of all masses and suspension parameters. The proof in [5] makes use of a spectral formulation...
Slip ratio control of a ground vehicle is an important concern for development of antilock braking system to avoid skidding when there is a transition of road surfaces. In the past, the slip ratio models of such vehicles were derived by several investigators. It is observed that the dynamics of the hybrid electric vehicle (HEV) is nonlinear, time varying and uncertain due to tire-road dynamics being...
This paper mainly conducts a study and survey on the service condition of barrier-free facilities in the transportation system. It is applied the ergonomic technology that including Forces Sensitive Application (FSA) pressure mapping system, electronic hand dynamometer, HumanCAD, and questionnaire survey to do the evaluation. The evaluation is focused on the elder and wheelchair user. The results...
In regenerative braking research, three front and rear wheels braking force distributions are introduced, which are simulated in advisor2002, together with modifying of advisor module and braking cycle. the results show that braking force distribution based on ECE regulation can enhance motor regenerative energy, but relieve road sense of driver, and easy to lock when the road is bad.
This paper proposes the vehicle longitudinal controller for the Anti-lock Braking System(ABS) and Traction Control System(TCS). The sliding mode control scheme without a sign function is used to design a controller. Instead of a sign function, the adaptation mechanism is used to reduce the actuator chattering as a problem of the sliding mode control. The proposed systems use the equivalent model from...
In this paper, a new model predictive PID control method for the traction control of EVs (electric vehicles) is proposed. The proposed method aims to improve the maneuverability and the stability of EVs by controlling the wheel slip ratio. The optimal control gains of PID framework are derived by the model predictive control (MPC) algorithm. There also include numerical simulation results to demonstrate...
The paper presents a two degrees of freedom (2-dof) structure combining a dynamic feedforward approach with a nonlinear feedback component to control the damper valves' currents of a semi-active suspension system. The concept makes use of a dynamic damper model, which is able to represent the dynamic behavior significantly more accurate than the standard approach, where static damper characteristics...
In order to ensure the safety of the vehicle driving, the vehicle braking performance detection system was studied. On the basis of analyzing the structure and principle of vehicle performance detection system, and according to the control logic relation of the general test system, the overall plan was brought forward by using MCU as the controller. The various parts of the hardware circuit were designed...
Series-hybrid propulsion system that first converts the engine output into electrical power and uses only electric traction motors for propulsion. It also uses high capacity battery package to store the regenerative energy of the vehicle and thus improves the energy efficiency. In this paper, the test driving data of series hybrid propulsion system of rubber-tired tram has been analyzed. In order...
Electric vehicles (EVs) have attracted considerable interest because they have zero emissions. Moreover, EVs are considered promising from the viewpoint of vehicle motion control because electric motors have a quick and measurable torque response. Our research group has proposed many motion control methods for EVs. In this paper, our studies on traction and braking control methods are reviewed. These...
Extensive research is focus on the stability control in the modern industrial auto-mobile society. Some active safety systems, such as Electronic Stability Program (ESP) and Traction Control System (TCS) have been widely used as safety option in our quotidian cars. These systems are based on the information which contains the motion characteristic of vehicle. Nevertheless, some complex safety system...
This paper presents the design of an active safety system for prevention of unintended roadway departures. In normal driving conditions, the driver fully commands the vehicle while the safety system corrects the driver's steering and braking action in case there's a risk that the vehicle unintentionally departs the road. A model of the driver's nominal behavior is first estimated based on his or her...
Along with reducing the centrifugal force based on decreased speed using vehicle braking, the maximum lateral force of the wheel could bear diminishing gradually. In this paper, the deficiency of vehicle's anti-lock braking system on cornering road is analyzed, a control strategy of vehicle braking on low adhesive cornering road is presented, vehicle's ABS and the biggest lateral force of the wheel...
In this paper, a nonlinear sliding mode control scheme for active suspension systems was proposed. Simulation results suggest that the proposed control scheme may result in a system with fast-response and high-precision tracking of a virtual sky-hook damper force so that high ride quality and handling performance can be obtained. In general, the higher of the ride quality is required, the larger of...
In this paper, a deterministic yaw moment controller for four wheel independent steering and drive vehicles is proposed to enhance driving stability and controllability. Different to conventional methods that track a desired yaw rate, the proposed controller stabilizes a vehicle by additionally tracking the heading angle of a vehicle which is more efficient and robust. The heading angle of a vehicle...
Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There...
This paper presents a driving pattern recognition method based on trip segment clustering. Driving patterns categorize various driving behaviors that contain certain energy demand property in common. It can be applied to various applications including intelligent transportation, emission estimation, passive/active safety controls and energy management controls. In this paper, pattern features are...
The energetic behavior of electric vehicles (EVs) is significantly influenced by the characteristics of the route, in terms of, for example, environmental conditions, road grade and traffic. As such, a control strategy that actively manages the energy flows on board must take into account these aspects. This paper analyzes how road grade influences the battery discharge rate in a light electric vehicle,...
The safety and running performance of front and rear wheel independent drive type electric vehicles (FRID EVs) for use as advanced, next-generation electric vehicles (EVs) is clarified under severe running conditions, with particular focus on energy saving control performance and braking and cornering performance on low-friction coefficient (n) roads. The running performance of FRID EVs, which could...
In reality, a system is almost nonlinear. To estimate the parameter or state of this system, nonlinear approach is needed. The Extended Kalman Filter(EKF) and the Unscented Kalman Filter(UKF) are used to estimate this nonlinear problem. EKF uses first order Taylor expansion to approximate the nonlinear system, while UKF performs a stochastic linearization by using a weighted statistical linear regression...
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