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Intelligent vehicle safety systems are based on the awareness of vehicle's dynamics states. In this article, we propose the development of an onboarded software (called virtual sensor) aiming at estimating the non-measured vehicle dynamics states, based on the fusion of different vehicle models. The virtual sensor developed in this paper is a system consisted of four observers, which is able to extract...
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...
This paper researches the path tracking problem for four-wheel steering (4WS) autonomous vehicles (AVs). A 4WS dynamics model of error is established. An analysis of steady state error point that 4WS AVs can eliminate steady state error in ideal condition but traditional Front-Wheel steering (FWS) AVs cannot achieve. By introducing sideslip angle, two sliding mode controllers are utilized to converge...
Electronic stability control (ESC) system is well known as a method to assist the driver in recovering from unintended situations, such as understeering and oversteering behaviors. One of issues of this ESC is precise distribution of the brake force for generation of the vehicle yaw moment. In this paper, a new design of ESC systems is proposed. First, the model based controller with vehicle bicycle...
Incorporating driver behavior information into vehicle control strategies can significantly improve performance of vehicle control systems, such as active safety systems and driver assistance systems. This paper proposes an algorithm for driver behavior characterization based on handling limits. In order to implement the handling limit-based algorithm, an interacting multiple model estimation technique...
This paper presents an intelligent electronic steering program (IESP), which combines steering shared control with electronic road departure mitigation control via individual wheel braking. It is based on a recently published control allocation and moderation method designed to improve the vehicle's cornering performance in friction-limiting conditions. Here we develop the concept further in terms...
Path tracking control for autonomous vehicle using model predictive control (MPC) algorithm maintains maneuverability by calculating a sequence of control input which minimizes a tracking error. The weakness of this method is that the performance of MPC may decrease significantly when the priori prediction model is not accurate. Therefore, it is important to keep the vehicle stable when MPC having...
This paper presents a combined fault-tolerant control (FTC) strategy with optimal control allocation (CA) for four-wheel independently driven electric vehicles. Under some motor fault situations, the motor may not output expected torque due to the actuator constraint. Therefore, the performances and the stability of the vehicle will be degraded. In this proposed FTC, two optimal CA schemes are combined...
In this paper, an electronic differential is introduced for an electric vehicle (EV) with rear wheel drive and two electric motors. The proposed architecture consists of driving the two motors by simple motor torque controllers, through splitting the torque equally for each motor. The principle is similar to that of a mechanical differential. The purpose is the improvement of EV's drivetrain efficiency...
Non-linear lateral stability of a vehicle is considered. The region of attraction is estimated using Sum of Squares (SOS) programming and compared to previous results from the literature. Parametric studies are then carried out to analyse their influence on the stability region. The vehicle in both cornering and straight line motion is considered.
Tire force distribution is an important topic in motion control of electric vehicles. For years, many researchers have focused on optimal distribution by minimizing a certain cost function. However, no effort has been paid to the stability analysis of tire force distribution theoretically. Let the actuators (in-wheel-motors and steering motors) be the local agents, the electric vehicle can be seen...
An approach for fault detection and isolation (FDI) of sensors in chassis control systems is presented. This approach makes use of the analytical redundancy in the non-linear kinematic relationships between wheel speeds, steering angles, and the vehicle body motion, which is valid when negligible tyre slip can be assumed. Using a bounded-in-bounded-out approach, bounds for coherent sensor values are...
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...
We applied impulse voltages to an electric vehicle using an impulse voltage generator. The results provide insight into the phenomenological aspects of lightning strikes and characteristics of electric discharge between the wheels and ground.
This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagrange's equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior...
A novel heading predictive control model for autonomous ground vehicles is proposed in the present paper. The developed approach includes a nonlinear vehicle dynamic model which takes the actual tire side — slip characteristics into account and a new predictive function obtained from the stationary solution of the 2DOF vehicle dynamic model. The effectiveness of the new heading predictive control...
A Hybrid Electric Vehicle longitudinal dynamics model for the control of energy management is developed. The model is implemented using Simulink® and consists of a transitional vehicle speed input parameterized by, for example, the New European Driving Cycle. It is a backward looking model in that engine and motor on/off states are determined by the controller, dependent on wheel torque requirements...
In this paper, a simplified dynamic vehicle model is established to accurately describe the dynamics of Unmanned Ground Vehicle (UGV) in trajectory tracking, while meeting the real-time computing requirement. And a modified model predictive control (MPC) algorithm with soft constraint for UGV trajectory tracking is proposed to improve the tracking stability and rapidity. The optimal control problem...
This paper proposes a parameter estimator for four-wheel-independently driven electric (4 WID) vehicle with in-wheel motors. The mass and location of payload have great impacts on the stability and maneuverability of lightweight vehicles (LWVs). Fast, effective and real-time parameter estimator can make the existing controller adjust the changed parameter caused by additional payload. The proposed...
This paper presents a nonlinear adaptive observer for the estimation of the wheel stiffness and radius. The estimated parameters will be used for controller synthesis and supervision for vehicle applications. The proposed adaptive observer uses the angular velocity as an input of the system, whereas the angular position and the vehicle velocity are considered as a measured state vector. The adaptive...
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