Topic
Vehicle dynamics
About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.
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TL;DR: A planning and decision component to generalize vehicle following to situations with nonautomated interfering vehicles in mixed traffic by treating the path of the leader vehicle as an elastic band that is subjected to repelling forces of obstacles in the surroundings.
Abstract: The vehicle-following concept has been widely used in several intelligent-vehicle applications. Adaptive cruise control systems, platooning systems, and systems for stop-and-go traffic employ this concept: The ego vehicle follows a leader vehicle at a certain distance. The vehicle-following concept comes to its limitations when obstacles interfere with the path between the ego vehicle and the leader vehicle. We call such situations dynamic driving situations. This paper introduces a planning and decision component to generalize vehicle following to situations with nonautomated interfering vehicles in mixed traffic. As a demonstrator, we employ a car that is able to navigate autonomously through regular traffic that is longitudinally and laterally guided by actuators controlled by a computer. This paper focuses on and limits itself to lateral control for collision avoidance. Previously, this autonomous-driving capability was purely based on the vehicle-following concept using vision. The path of the leader vehicle was tracked. To extend this capability to dynamic driving situations, a dynamic path-planning component is introduced. Several driving situations are identified that necessitate responses to more than the leader vehicle. We borrow an idea from robotics to solve the problem. Treat the path of the leader vehicle as an elastic band that is subjected to repelling forces of obstacles in the surroundings. This elastic-band framework offers the necessary features to cover dynamic driving situations. Simulation results show the power of this approach. Real-world results obtained with our demonstrator validate the simulation results
103 citations
TL;DR: In this paper, the transmission kinematics and dynamics of a DCT were investigated, considering all the possible configurations that can take place in relation to the various power flow paths, and the resulting sets of equations are written in an indexed form that can be easily integrated in a vehicle model, thus allowing the description of both gear shift transients and operation with a specific gear.
103 citations
TL;DR: In this article, an observer based on ANFIS combined with Kalman filters is proposed to estimate the sideslip angle, which in turn is used to control the vehicle dynamics and improve its behavior.
103 citations
TL;DR: In this paper, a nonlinear adaptive controller is designed that yields convergence of the trajectories of the closed-loop system to the path in the presence of constant unknown ocean currents and parametric model uncertainty.
Abstract: This paper addresses the problem of cooperative path-following of multiple autonomous vehicles. Stated briefly, the problem consists of steering a group of vehicles along specified paths while keeping a desired spatial formation. For a given class of autonomous surface vessels, it is shown how Lyapunov-based techniques and graph theory can be brought together to design a decentralized control structure, where the vehicle dynamics and the constraints imposed by the topology of the inter-vehicle communication network are explicitly taken into account. To achieve path-following for each vehicle, a nonlinear adaptive controller is designed that yields convergence of the trajectories of the closed-loop system to the path in the presence of constant unknown ocean currents and parametric model uncertainty. The controller derived implicitly compensates for the effect of the ocean current without the need for direct measurements of its velocity. Vehicle cooperation is achieved by adjusting the speed of each vehicle along its path according to information exchanged on the positions of a subset of the other vehicles, as determined by the communication topology adopted. Global stability and convergence of the closed-loop system are guaranteed. Illustrative examples are presented and discussed. Copyright © 2009 John Wiley & Sons, Ltd.
102 citations
TL;DR: This proposed hierarchical control system is tested in a hardware-in-the-loop system with four typical maneuvers, which are constant velocity, accelerating, decelerating, and low road adhesion coefficient situations to show different driver command.
Abstract: For four wheel independent motor-drive electric vehicle, the vehicle longitudinal and lateral motion can be controlled by distributing the driving and regenerative braking torques of four wheel motors. To meet the driving command of driver and keep the vehicle lateral stability, a hierarchical control system is proposed in this paper. In the upper layer, a nonlinear model predictive control is implemented to solve the nonlinear multiinput multioutput, over-actuated problem. The controller is based on a nonlinear three degree-of-freedom model with nonlinear tire model, considering wheel slips as virtual control input. In the lower layer, the wheel slips are manipulated by a PID controller for generating driving and regenerative braking torques of the independent motors. This proposed controller is tested in a hardware-in-the-loop system with four typical maneuvers, which are constant velocity, accelerating, decelerating, and low road adhesion coefficient situations to show different driver command. The results show that the driver command of longitudinal and lateral motion control are both satisfied.
102 citations