scholarly journals Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Giovanni Braghieri ◽  
Alexander Haslam ◽  
Michalis Sideris ◽  
Julian Timings ◽  
David Cole
Keyword(s):  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Center Of Mass ◽  
Subjective Ratings ◽  
Steering Control ◽  
Vehicle Model ◽  
Loop Control ◽  
Compensatory Control ◽  
Random Disturbances ◽  
Nonlinear Vehicle Model

Criteria for stability and controllability of road vehicles are briefly reviewed, and it is argued that there is a need for criteria that might better relate to subjective ratings by drivers. The variance of a driver's closed-loop control action against random disturbances acting on the vehicle is proposed as a realistic criterion that might relate to a driver's assessment of the vehicle. A nonlinear vehicle model with five degrees-of-freedom, negotiating a 90-deg bend in minimum time, is the basis for the theoretical study. The vehicle model is run with the center of mass in two different positions. It is found that the variance of the driver's compensatory steering control varies significantly through the maneuver, reaching a peak at about midcorner. The corresponding variance in the lateral path error of the vehicle also peaks at about the same position in the maneuver. Comparison of these variances to existing stability and controllability criteria shows that the variance of the compensatory control might reveal aspects of the handling behavior that the existing criteria do not. Recommendations for further work are given and include a program of driving simulator experiments or track tests to correlate the new criteria against subjective ratings by human drivers.

scholarly journals LIGHT VEHICLE MODEL FOR DYNAMIC CAR SIMULATOR

Transport ◽  
2016 ◽  
Vol 31 (2) ◽  
pp. 242-249 ◽  
Author(s):  
Alessio Pieroni ◽  
Claudio Lantieri ◽  
Hocine Imine ◽  
Andrea Simone
Keyword(s):  
Degrees Of Freedom ◽  
Present Model ◽  
Driving Simulator ◽  
Vehicle Model ◽  
Driving Simulators ◽  
Real Risk ◽  
Assistance Systems ◽  
Time Savings ◽  
Planning Development ◽  
Technical Features

Driving simulators have been becoming little by little a suitable tool oriented to improve the knowledge about the domain of driving research. The investigations that can be conducted with this type of tool concern the driver’s behaviour, the design/control of vehicles, testing assistance systems for driving and the roadway infrastructure’s impact. The benefits of simulation studies are many: lack of any real risk to users, reproducible situations, time savings and reduced testing costs. In addition, their flexibility allows to test situations that do not exist in reality or at least they rarely and randomly exist. The topic of the present work concerns the development of a brand new dynamic model for an existing car simulator owned by LEPSIS laboratory (Laboratoire d’Expliotation, Perception, Simulateurs et Silulations – Laboratory for Road Operations, Perception, Simulators and Simulations) belonging to COSYS (COmposants et SYStems), which is a department of IFSTTAR institute (Institut Français des Sciences et Technologies des Transports, de l’Aménagement et des Réseaux – French Institute of Science and Technology for Transport, Spatial Planning, Development and Networks) site. Once uses and advantages of driving simulators are listed and described, imperfections and limitations of the existing driving vehicle model belonging to the two Degrees of Freedom (DoF) driving simulator of the laboratory are highlighted. Subsequently, structure of the brand new vehicle model, designed by means of Matlab Simulink software, are illustrated through the theoretical framework. Since the vehicle model must refer to a real one, an instrumented Peugeot 406 has been chosen because all its technical features are provided and inserted both on the present model and Prosper/Callas 4.9 by OKTAL software to create a highly sophisticated and accurate virtual version of the commercial car. The validation of this new vehicle model is performed, where the results returned by several different driving scenarios are compared with the ones provided by Prosper software. All the scenarios are simulated with both existing and new vehicle model uploaded in the driving simulator, and the outputs are subsequently compared with the ones returned by Prosper in order to demonstrate the improvements done. Finally, being the number of outputs provided by the new model definitively higher with respect to previous one, additional validations concerning the further results are accomplished.

Performance of Developed Driving Simulator With Full Vehicle Model of Multibody Dynamics

2001 ◽  
Author(s):  
Taichi Shiiba ◽  
Yoshihiro Suda
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Vehicle Model ◽  
Full Vehicle ◽  
Real Time Analysis ◽  
Motion System ◽  
Time Calculation ◽  
6 Degrees Of Freedom

Abstract In this paper, the authors propose to apply the full vehicle model of multibody dynamics to driving simulator with 6 degrees of freedom motion system. By this proposal, the characteristics of driving simulator become very similar to the actual automobiles. It becomes possible to predict the performance of vehicle dynamics and the riding comfort by feeling test without prototyping automobile. To realize real-time calculation that is necessary for driving simulator, the authors proposed approximated real-time analysis method. By this method, real-time vehicle analysis of 2 ms step time of numerical integration is achieved with 91 degrees of freedom vehicle model.

Vehicle Dynamics Control by Using an Active Gyroscopic Device

2015 ◽  
Vol 137 (12) ◽  
Author(s):  
Behrooz Mashadi ◽  
Meysam Gowdini
Keyword(s):  
Degrees Of Freedom ◽  
Linear Equations ◽  
Steady Motion ◽  
Linear Quadratic Regulator ◽  
Vehicle Model ◽  
Linear Quadratic ◽  
Bicycle Model ◽  
Gyroscope System ◽  
Optimal Linear ◽  
Nonlinear Vehicle Model

In this research, a gyroscopic device has been introduced for the purpose of vehicle handling enhancement. An optimal linear quadratic regulator controller (LQR) is designed based on the gyroscope–vehicle simple linear equations. This controller by using a gyroscope system is shown to enable the vehicle to follow the desired input. The desired vehicle dynamic motion is assumed in the form of the steady motion of the bicycle model. The desired motion for the gyroscope is a condition in which the gyroscope frame angular velocity is zero. A ten degrees-of-freedom (DOF) full vehicle model, consisting of 9DOF for the nonlinear vehicle model including the Magic Formula tire model and a nonlinear 1DOF gyroscope model, is used for the simulation purposes. In various maneuvers, the performance of the gyroscopic system with that of the conventional direct yaw moment control (DYC) system performance is compared. Simulation results show that on dry and slippery roads, the performances of gyroscope system and DYC are both desirable. On a μ-split road condition, DYC fails and is not effective whereas the gyroscope system has a very good performance.

On Steering Control of Commercial Three-Axle Vehicle

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
Qiuzhen Qu ◽  
Jean W. Zu
Keyword(s):  
Reference Model ◽  
Variable Structure ◽  
Limited Range ◽  
Steering System ◽  
Design Parameters ◽  
Steering Control ◽  
Vehicle Model ◽  
Loop Control ◽  
Nominal Model ◽  
Steering Characteristics

The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable.

A Comparison of Quarter, Half and Full Vehicle Models With Experimental Ride Comfort Data

2015 ◽  
Author(s):  
Herman A. Hamersma ◽  
Schalk Els
Keyword(s):  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Center Of Mass ◽  
Vehicle Body ◽  
Vehicle Model ◽  
Full Vehicle ◽  
Computational Capability ◽  
Quarter Car ◽  
Multi Body ◽  
Vertical Translation

The ride comfort of a vehicle is one of the first parameters used to evaluate its performance. Ride comfort has been one of the important research topics since the dawn of the automobile. With the improvement in computational capability, vehicle engineers have modeled vehicles with increasing complexity. Initially vehicles were simplified to quarter car models, where a quarter of the vehicle was modeled with two degrees of freedom (the vertical translation of the sprung and unsprung masses). The “pitch-bounce” model has four degrees of freedom, representing the pitch rotation and vertical translation (bounce) of the vehicle body and chassis and the vertical translation of the front and rear axles and wheels. Finally, with the development of multi-body systems (MBS) software, there is the possibility to model the full vehicle with suspension kinematics and numerous degrees of freedom. The full vehicle model used for this study has 15 unconstrained degrees of freedom and experimentally determined center of mass and inertias. This paper compares the response of a quarter car, pitch-bounce and full vehicle model with the measured response of an actual vehicle.

The stability analysis using Lyapunov exponents for high-DOF nonlinear vehicle plane motion

2021 ◽  
pp. 095440702110433
Author(s):  
Shuming Shi ◽  
Fanyu Meng ◽  
Minghui Bai ◽  
Nan Lin
Keyword(s):  
Stability Analysis ◽  
Quantitative Analysis ◽  
Lyapunov Exponents ◽  
Plane Motion ◽  
Vehicle Model ◽  
Motion Stability ◽  
Motion System ◽  
Nonlinear Vehicle Model ◽  
The Stability ◽  
Different Characteristics

The Lyapunov exponents method is an excellent approach for analyzing the vehicle plane motion stability, and the researchers demonstrated the effectiveness under 2-DOF vehicle model. However, whether the Lyapunov exponents approach can effectively reveal the characteristics of high-DOF nonlinear vehicle model is the key problem at present. In this paper, the Lyapunov exponents is applied to quantitatively analyze the stability of the nonlinear three and five degree of freedom vehicle plane motion system. The different characteristics between 2-DOF and high-DOF model are revealed and explained by using Lyapunov exponents. It illustrates the feasibility of using Lyapunov exponents to analyze the stability of high-DOF vehicle models, which supplements and perfects the existing quantitative analysis conclusion.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

scholarly journals The Use of Integrals in Numerical Integrations of theN-Body Problem

1971 ◽  
Vol 10 ◽  
pp. 40-51
Author(s):  
Paul E. Nacozy
Keyword(s):  
Angular Momentum ◽  
Numerical Integration ◽  
Degrees Of Freedom ◽  
Body Problem ◽  
Center Of Mass ◽  
Integration Step ◽  
Gravitational System ◽  
Systems Of Differential Equations ◽  
Numerical Integrations ◽  
Original Number

AbstractThe numerical integration of systems of differential equations that possess integrals is often approached by using the integrals to reduce the number of degrees of freedom or by using the integrals as a partial check on the resulting solution, retaining the original number of degrees of freedom.Another use of the integrals is presented here. If the integrals have not been used to reduce the system, the solution of a numerical integration may be constrained to remain on the integral surfaces by a method that applies corrections to the solution at each integration step. The corrections are determined by using linearized forms of the integrals in a least-squares procedure.The results of an application of the method to numerical integrations of a gravitational system of 25-bodies are given. It is shown that by using the method to satisfy exactly the integrals of energy, angular momentum, and center of mass, a solution is obtained that is more accurate while using less time of calculation than if the integrals are not satisfied exactly. The relative accuracy is ascertained by forward and backward integrations of both the corrected and uncorrected solutions and by comparison with more accurate integrations using reduced step-sizes.

Driver Model Based on Controller with Open and Close Loop

2014 ◽  
Vol 889-890 ◽  
pp. 958-961
Author(s):  
Huan Ming Chen
Keyword(s):  
Closed Loop ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Vehicle Model ◽  
Vehicle Handling ◽  
Loop Control ◽  
Driving Experience ◽  
Loop Feedback ◽  
Closed Loop Feedback ◽  
Target Path

It is very important to simulate driver's manipulation for people - car - road closed loop simulation system. In this paper, the driver model is divided into two parts, linear vehicle model is used to simulate the driver's driving experience, and closed-loop feedback is used to characterize the driver's emergency feedback. The lateral acceleration of vehicle is used as feedback in closed loop control. Simulation results show that the smaller lateral acceleration requires the less closed-loop feedback control. The driver model can accurately track the target path, which can be used to simulate the manipulation of the driver. The driver model can be used for people - car - road closed loop simulation to evaluate vehicle handling stability.

scholarly journals TECHNICAL PROPERTIES AND RESEARCH CAPABILITIES OF THE TRUCK SIMULATOR OWNED BY THE MILITARY INSTITUTE OF AVIATION MEDICINE – A NEW PERSPECTIVE IN RESEARCH ON TRUCK DRIVERS

2021 ◽  
Vol 25 (3) ◽  
pp. 26-31
Author(s):  
PAULINA BARAN ◽  
◽  
MARIUSZ KREJ ◽  
MARCIN PIOTROWSKI ◽  
ŁUKASZ DZIUDA ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Truck Drivers ◽  
Aviation Medicine ◽  
Motion System ◽  
Technical Properties ◽  
Conducting Research ◽  
New Perspective ◽  
Military Institute ◽  
The Military

Abstract: This paper is aimed at presenting basic technical properties and possibilities of using the truck simulator owned by the Military Institute of Aviation Medicine (MIAM). The truck driving simulator is a stationary device, equipped with a six degrees of freedom (6 DoF|) motion system and reproducing the functionality of a truck on the basis of the Mercedes Benz Actros cabin. It is intended for conducting research as well as training truck drivers in simulated traffic conditions.

Sign in / Sign up

Export Citation Format

Share Document