scholarly journals Modeling the steering wheel influence by the driver on the vehicle's motion stability

2021 ◽  
Vol 264 ◽  
pp. 05015
Author(s):  
Doniyor Аkhmedov ◽  
Shavkat Alimukhamedov ◽  
Ibragim Tursunov ◽  
Soyib Narziev ◽  
Davron Riskaliev
Keyword(s):  
Mathematical Model ◽  
Standard Deviation ◽  
Steering Wheel ◽  
Lane Change ◽  
Correlation Index ◽  
Motion Stability ◽  
Wheel Turn

In this article, a mathematical model was developed to influence the intensity of the steering wheel turn by the driver on the vehicle's stability. Comparison of the developed mathematical model with the experiment results made it possible to establish their adequacy. The effect of the three conditional drivers on the intensity of the steering wheel was examined. When performing the 'J-turn' maneuver, comparing the indices of the 1st, 2nd and 3rd conditional drivers, their proximity to the requirements of the standard was established. It was found that the indices of the second conditional driver are closest to the standard requirements. When performing the 'Single Lane Change' maneuver by the first conventional driver, the standard deviation value from the specified trajectory was 0.102, and the correlation index was 0.88.

scholarly journals Simulation of the Effect of Turning Steering Wheel Intensity on the Vehicle Stability

2020 ◽  
Vol 9 (2) ◽  
pp. 242-247
Keyword(s):  
Mathematical Model ◽  
Steering Wheel ◽  
Vehicle Stability ◽  
Lane Change ◽  
Correlation Index ◽  
Wheel Turning ◽  
Quadratic Deviation

In this article, a mathematical model has been developed to show the effect of the drivers’ steering wheel turning intensity on the vehicle’s stability. The developed mathematical model was compared with the results of experiment and its adequacy was evaluated. 3 conditional drivers turn the steering wheel of the vehicle at different speeds. When the conditional drivers were analyzed in the “J-turn” maneuver, it was determined that the indicators of 1,2,3 - conditional drivers are close to the standard. The conditional 2-driver recorded an indicator close to the standard. As for the “Single Lane Change” maneuver, the value of the smallest quadratic deviation from the trajectory of conditional 1-driver was recorded, the correlation index was equal to 0.102, respectively, 0.88

Theoretical Analysis of CFD-DEM Mathematical Model Solution Change With Varying Computational Cell Size

2018 ◽  
Author(s):  
Annette Volk ◽  
Urmila Ghia
Keyword(s):  
Mathematical Model ◽  
Standard Deviation ◽  
Cell Size ◽  
Volume Fraction ◽  
Particle Diameter ◽  
Independent Solution ◽  
Model Verification ◽  
Computational Cell ◽  
Drag Laws ◽  
Fraction Method

Successful verification and validation is crucial to build confidence in the application of coupled Computational Fluid Dynamics - Discrete Element Method (CFD-DEM). Model verification includes ensuring a mesh-independent solution, which poses a major difficulty in CFD-DEM due to the complicated solution relationship with computational cell size. In this paper, we investigate the theoretical relationship between the solution and computational cell size by tracing the effects of a change in cell size through the mathematical model. The porosity profile for simulations of fixed-particle beds is determined to be Gaussian, and the average and standard deviation of the representative distribution are reported against cell size. We find the standard deviation of bed porosity increases exponentially as the cell size is reduced, and the drag calculations are very sensitive to changes in the porosity standard deviation, resulting in an exponential change in expected drag when the cell size is small relative to the particle diameter. The divided volume fraction method of porosity calculation is shown to be superior to the centred volume fraction method, as it reduces the porosity standard deviation. The sensitivity of five popular drag laws to changes in the porosity profile is presented, and the Ergun and Beetstra drag laws are shown to be the least sensitive to changes in the cell size.

scholarly journals Method of controlling innovative articulation for articulated vehicle

2018 ◽  
Vol 157 ◽  
pp. 04005 ◽  
Author(s):  
Mateusz Szumilas ◽  
Sergiusz Łuczak ◽  
Maciej Bodnicki ◽  
Marcin Stożek ◽  
Tomasz Załuski
Keyword(s):  
Control Algorithm ◽  
Diagnostic System ◽  
Lane Change ◽  
Sensor Layer ◽  
Motion Stability ◽  
Labview Software ◽  
Articulated Vehicle ◽  
Vehicle Motion ◽  
Action Taking

Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

scholarly journals Analysis of the Modified Construction of the Column Mechanism MacPherson

2018 ◽  
Vol 19 (11) ◽  
pp. 41-44
Author(s):  
Marek Kwietniewski ◽  
Tadeusz Bil
Keyword(s):  
Mathematical Model ◽  
Steering Wheel ◽  
Passenger Cars ◽  
Proper Selection ◽  
Front Suspension ◽  
Change Of Direction ◽  
Partial Elimination ◽  
Selection Of

The McPherson column name comes from the inventor of this Earle S. MacPherson solution, which was first manufactured at the Ford plant in 1949. This is one of the most commonly used types of front suspension in popular passenger cars. The advantage of this type of suspension is a compact construction, but the disadvantage is. The influence of the damping motion on the position of the steering wheel may result in an unintentional change of direction of travel. At the same time, there is a slight additional tilt of the wheels when the "spring" movement. In the proposed solution, partial elimination of this type of incorrectness is proposed by changing the type of connection of the steering rod end to the steering wheels of the vehicle. The introduced change consists in replacing one of the spherical joints in these joints into two rotary joints. Such a change introduces a mathematical model describing the behavior of the suspension under the influence of the depreciation of additional parameters. Proper selection of these parameters allows for significant reduction of unnecessary direction changes during driving. The described model of the structure of the mechanism allows to analyze the influence of all its dimensions on the selected parameters of the behavior of the wheels during the ride, resulting from the movement of the suspension and steering.

scholarly journals End-to-End Automated Lane-Change Maneuvering Considering Driving Style Using a Deep Deterministic Policy Gradient Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (18) ◽  
pp. 5443
Author(s):  
Hongyu Hu ◽  
Ziyang Lu ◽  
Qi Wang ◽  
Chengyuan Zheng
Keyword(s):  
Autonomous Vehicles ◽  
The State ◽  
Steering Wheel ◽  
Lane Change ◽  
Simulation Environment ◽  
Longitudinal Control ◽  
Driving Style ◽  
Lane Changing ◽  
Policy Gradient ◽  
End To End

Changing lanes while driving requires coordinating the lateral and longitudinal controls of a vehicle, considering its running state and the surrounding environment. Although the existing rule-based automated lane-changing method is simple, it is unsuitable for unpredictable scenarios encountered in practice. Therefore, using a deep deterministic policy gradient (DDPG) algorithm, we propose an end-to-end method for automated lane changing based on lidar data. The distance state information of the lane boundary and the surrounding vehicles obtained by the agent in a simulation environment is denoted as the state space for an automated lane-change problem based on reinforcement learning. The steering wheel angle and longitudinal acceleration are used as the action space, and both the state and action spaces are continuous. In terms of the reward function, avoiding collision and setting different expected lane-changing distances that represent different driving styles are considered for security, and the angular velocity of the steering wheel and jerk are considered for comfort. The minimum speed limit for lane changing and the control of the agent for a quick lane change are considered for efficiency. For a one-way two-lane road, a visual simulation environment scene is constructed using Pyglet. By comparing the lane-changing process tracks of two driving styles in a simplified traffic flow scene, we study the influence of driving style on the lane-changing process and lane-changing time. Through the training and adjustment of the combined lateral and longitudinal control of autonomous vehicles with different driving styles in complex traffic scenes, the vehicles could complete a series of driving tasks while considering driving-style differences. The experimental results show that autonomous vehicles can reflect the differences in the driving styles at the time of lane change at the same speed. Under the combined lateral and longitudinal control, the autonomous vehicles exhibit good robustness to different speeds and traffic density in different road sections. Thus, autonomous vehicles trained using the proposed method can learn an automated lane-changing policy while considering safety, comfort, and efficiency.

scholarly journals A Hysteresis-Based Steering Feel Model for Steer-by-Wire Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-14
Author(s):  
M. Selçuk Arslan
Keyword(s):  
Mathematical Model ◽  
Steering System ◽  
Steering Wheel ◽  
Hysteresis Model ◽  
Steering Feel ◽  
Proposed Model ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Tire Dynamics ◽  
The Mathematical Model

A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized Bouc-Wen hysteresis model is used to describe the steering wheel torque feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of adjusting the shape of steering feel model for various physical and dynamic conditions increases. Addition of a term about the tire dynamics to the steering feel model renders the steering wheel torque feedback more informative about the tire road interaction. Some simulation results are presented to establish the feasibility of the proposed model. The results of hardware-in-the-loop simulations show that the model provides a realistic and informative steering feel.

Decision Analysis of Lane Change Based on Fuzzy Logic

2013 ◽  
Vol 419 ◽  
pp. 790-794 ◽  
Author(s):  
Wen Shi ◽  
Ya Ping Zhang
Keyword(s):  
Fuzzy Logic ◽  
Change Process ◽  
Road Surface ◽  
Driver Model ◽  
Steering Wheel ◽  
Surface Model ◽  
Lane Change ◽  
The Road ◽  
Fuzzy Logic Analysis ◽  
Test Result

Aiming at the complexity of lane change process, fuzzy logic analysis method was proposed to analyzing this behavior. By assaying the multi lane change scene that the drivers may choose, influencing factors were quantified. Each indicator factor after quantified was treated as model input. PID models of driver, vehicle and road surface were established in Simulink condition. The road surface model controls whether the lane change process will be conducted, and the driver model will export angle of steering wheel to deciding the efficiency of lane change process. Real road test was conducted and the test result shows that information between human and vehicle can be fused sufficiently.

Optimal Design of Basic Parameter of Disconnected Steering Trapezoid

2012 ◽  
Vol 424-425 ◽  
pp. 334-337
Author(s):  
Cui Xia Guo ◽  
Kang Liu ◽  
Wen Ling Xie
Keyword(s):  
Mathematical Model ◽  
Deflection Angle ◽  
Steering Wheel ◽  
Optimized Design ◽  
Pure Rolling ◽  
Tire Wear ◽  
Optimization Parameters ◽  
Basic Parameters ◽  
The Common ◽  
The Ideal

In the design of disconnected steering trapezoid, the Fmincon function of MATLAB optimization toolbox is used to optimize its basic parameters. First, establish the optimal mathematical model. Second, obtain wheel angle curve of inside and outside steering by least-squares fitting. Finally, compare the curve with the ideal Ackerman geometric curve to get the optimization parameters of disconnected steering trapezoid. The example of optimized design validated that the actual curve of deflection angle of the both sides of steering wheel was almost close to perfect Ackerman geometry curve, it ensures the steering of wheel do pure rolling in the common conditions, which reduce tire wear

Research on Heat Distribution in a Thermal Insulation Space and a Kind of Evaluation Involving Heat-Distribution and Valid Heating-Area

2013 ◽  
Vol 444-445 ◽  
pp. 1427-1433
Author(s):  
Hong Yang Jin ◽  
Zhi Hua Chen ◽  
Lang Li
Keyword(s):  
Heat Transfer ◽  
Mathematical Model ◽  
Standard Deviation ◽  
Thermal Insulation ◽  
Transfer Equation ◽  
Heating Process ◽  
Heat Distribution ◽  
Heat Transfer Equation ◽  
Heat Transmission

Considering that food always be spoiled in an oven, an analysis of the heat distribution of an object (pan) in a thermal insulation space has been done. The analysis based on the characteristics of heat transmission in an oven. A mathematical model is designed to illustrate the heating process. Specifically, in order to monitor the temperature of the object, pdetool in MATLAB is used to solve the heat transfer equation. Then to evaluate how an object performs in the oven, a method of standard deviation has been introduced. For the efficiency, valid heating area should also be considered. Thus an evaluation is made to choose a most preferring pan, which is balanced between heat distribution and valid heating area (number of pans). The experiment shows that shapes would devote much in performance. It is also demonstrated that there is a certain shape that can be most suitable to be a pan.

Sensitivity Analysis of Vehicle Parameters for Heading Angle Control of an Unmanned Ground Vehicle

2014 ◽  
Author(s):  
Shubhashisa Sahoo ◽  
Shankar C. Subramanian ◽  
Suresh Srivastava
Keyword(s):  
Mathematical Model ◽  
Sensitivity Analysis ◽  
Dynamic Performance ◽  
Measurement Unit ◽  
Lane Change ◽  
Actual System ◽  
Magic Formula ◽  
Actuator Dynamics ◽  
Wide Range ◽  
Heading Angle

Even if there are many software and mathematical models available in the literature to analyze the dynamic performance of Unmanned Ground Vehicles (UGVs), it is always difficult to identify or collect the required vehicle parameters from the vehicle manufacturer for simulation. In analyzing the vehicle handling performance, a difficult and complex task is to use an appropriate tire model that can accurately characterize the ground-wheel interaction. Though, the well-known ‘Magic Formula’ is widely used for this purpose, it requires expensive test equipment to estimate the Magic Formula coefficients. The design of longitudinal and lateral controllers plays a significant role in path tracking of an UGV. Though the speed of the vehicle may remain almost constant in most of the maneuvers such as lane change, Double Lane Change (DLC), step steer, cornering, etc., design of the lateral controller is always a challenging task as it depends on the vehicle parameters, road information and also on the steering actuator dynamics. Although a mathematical model is an abstraction of the actual system, the controller is designed based on this model and then deployed on the real system. In this paper, a realistic mathematical model of the vehicle considering the steering actuator dynamics has been developed by calculating the cornering stiffnesses from the basic tire information and the vertical load on each tire. A heading angle controller of the UGV has been considered using the Point-to-Point navigation algorithm. Then, these controllers have been implemented on a test platform equipped with an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). A wide range of experiments such as J-Turn, lane change and DLC have also been conducted for comparison with the simulation results. Sensitivity analysis has been carried out to check the robustness and stability of the controller by varying the cornering stiffness of tires, the most uncertain parameter. The longitudinal speed of the vehicle is assumed to vary between a minimum value of 1.4 m/s and a maximum value of 20 m/s. It has been found that when the vehicle is moving at a constant velocity of 3.2 m/s, a heading angle change of 20 degrees can be achieved within 3 seconds with 2% steady state error using a proportional controller. It was observed that at lower speeds, the controller is more sensitive to the steering actuator dynamics and at higher speeds, the controller is more sensitive to the cornering stiffness of tires.

Sign in / Sign up

Export Citation Format

Share Document