Pub Date : 2017-04-11DOI: 10.1504/IJVAS.2017.10004255
T. Yoshimura
This paper presents a simplified Adaptive Backstepping Control (ABC) in the design of an active suspension for a full-car model with unknown external disturbances. It is assumed that the full-car models are described by an uncertain discrete-time state equation, and that the observation of the states is taken with measurement noises. The proposed ABC is designed in a simplified structure by removing the repeated heavy computation of non-linear functions, and the design parameters are selected by using an appropriate Lyapunov function. The unmeasurable states and uncertainties for the uncertain discrete-time state equations are estimated by using the simplified weighted least squares estimator. The simulation experiment indicates that the proposed ABC is suitable for the design of the active suspension for the full-car model because it suppresses the movement of the car body and the suspension travel, and improves the ride comfort of passengers.
{"title":"Adaptive backstepping discrete-time control for a full-car active suspension","authors":"T. Yoshimura","doi":"10.1504/IJVAS.2017.10004255","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10004255","url":null,"abstract":"This paper presents a simplified Adaptive Backstepping Control (ABC) in the design of an active suspension for a full-car model with unknown external disturbances. It is assumed that the full-car models are described by an uncertain discrete-time state equation, and that the observation of the states is taken with measurement noises. The proposed ABC is designed in a simplified structure by removing the repeated heavy computation of non-linear functions, and the design parameters are selected by using an appropriate Lyapunov function. The unmeasurable states and uncertainties for the uncertain discrete-time state equations are estimated by using the simplified weighted least squares estimator. The simulation experiment indicates that the proposed ABC is suitable for the design of the active suspension for the full-car model because it suppresses the movement of the car body and the suspension travel, and improves the ride comfort of passengers.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43525511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-03DOI: 10.1504/IJVAS.2016.078808
Xiaojie Li, K. Zhao
Surface roughness is the description of surface irregularity and micro topographic randomness. It is an important factor affecting soil microwave radiation. Since both the microwave radiometer and radar detector measure a plane, using 3D data to calculate the 2D surface roughness will get better results. In this paper, we present a line-structure laser based vehicle-borne 2D surface roughness measurement instrument which can measure a much bigger size and thus bring higher accuracy and greater capability. Meanwhile, the portability is not affected since it is carried around by a vehicle. The precision test and field test showed that the maximum average relative error is only 1.3%. We also implemented a graphics processing unit version of the data processing program, which reduced the runtime to 540 seconds from 45,393 seconds on central processing unit.
{"title":"A vehicle-borne and line-structure laser based two-dimensional surface roughness measurement instrument","authors":"Xiaojie Li, K. Zhao","doi":"10.1504/IJVAS.2016.078808","DOIUrl":"https://doi.org/10.1504/IJVAS.2016.078808","url":null,"abstract":"Surface roughness is the description of surface irregularity and micro topographic randomness. It is an important factor affecting soil microwave radiation. Since both the microwave radiometer and radar detector measure a plane, using 3D data to calculate the 2D surface roughness will get better results. In this paper, we present a line-structure laser based vehicle-borne 2D surface roughness measurement instrument which can measure a much bigger size and thus bring higher accuracy and greater capability. Meanwhile, the portability is not affected since it is carried around by a vehicle. The precision test and field test showed that the maximum average relative error is only 1.3%. We also implemented a graphics processing unit version of the data processing program, which reduced the runtime to 540 seconds from 45,393 seconds on central processing unit.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2016.078808","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-03DOI: 10.1504/IJVAS.2016.078760
Madeleine El Zaher, Franck Gechter, M. Hajjar, P. Gruer
Platoon system is a set of vehicles that move together without any material connection while keeping a predefined configuration. This paper focuses on column platoon configurations, where vehicles are placed one behind the other. There are two main goals for this paper. The first goal of the paper is to propose a local approach of platooning where each vehicle is considered an independent and autonomous entity able to compute its references (speed and orientation) based only on its perceptions. A platoon vehicle computes its references in a local frame. The second goal of this paper is to show the effect of the inertial force produced by the local frame. To assess the importance of this inertial force, a comparison is made between the behaviour of the vehicle when the inertial force is taken into account and when it is not.
{"title":"An interaction model for a local approach to vehicle platoons","authors":"Madeleine El Zaher, Franck Gechter, M. Hajjar, P. Gruer","doi":"10.1504/IJVAS.2016.078760","DOIUrl":"https://doi.org/10.1504/IJVAS.2016.078760","url":null,"abstract":"Platoon system is a set of vehicles that move together without any material connection while keeping a predefined configuration. This paper focuses on column platoon configurations, where vehicles are placed one behind the other. There are two main goals for this paper. The first goal of the paper is to propose a local approach of platooning where each vehicle is considered an independent and autonomous entity able to compute its references (speed and orientation) based only on its perceptions. A platoon vehicle computes its references in a local frame. The second goal of this paper is to show the effect of the inertial force produced by the local frame. To assess the importance of this inertial force, a comparison is made between the behaviour of the vehicle when the inertial force is taken into account and when it is not.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2016.078760","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-03DOI: 10.1504/IJVAS.2016.078763
J. Zhu, A. Khajepour, Jonathan Spike, Shih-Ken Chen, N. Moshchuk
Knowledge of tyre-road friction force is important in many vehicle control systems such as torque vectoring, differential braking and stability control systems. However, tyre friction forces and the factors affecting the friction forces cannot be directly measured by commonly used vehicle sensors. Therefore, an accurate estimation of the friction forces and friction index is crucial for a successful vehicle control design. Although a large number of friction estimation algorithms have been developed, those algorithms mainly focus on a single direction, either longitudinal or lateral, but cannot estimate the tyre friction in a combined condition. This paper presents an integrated friction estimation algorithm based on a half-car vehicle model that can simultaneously estimate the combined friction condition along the longitudinal and lateral directions with some basic measurements. The algorithm consists of a number of estimations for vehicle roll angle, tyre friction forces, vehicle longitudinal and lateral velocities, and tyre-ground friction index. The proposed algorithm has been verified with actual vehicle test results. The test results demonstrate that the algorithm has a fairly good fidelity for estimation of tyre friction forces, vehicle velocities and road-friction conditions that is described quantitatively by a tyre-road friction index.
{"title":"An integrated vehicle velocity and tyre-road friction estimation based on a half-car model","authors":"J. Zhu, A. Khajepour, Jonathan Spike, Shih-Ken Chen, N. Moshchuk","doi":"10.1504/IJVAS.2016.078763","DOIUrl":"https://doi.org/10.1504/IJVAS.2016.078763","url":null,"abstract":"Knowledge of tyre-road friction force is important in many vehicle control systems such as torque vectoring, differential braking and stability control systems. However, tyre friction forces and the factors affecting the friction forces cannot be directly measured by commonly used vehicle sensors. Therefore, an accurate estimation of the friction forces and friction index is crucial for a successful vehicle control design. Although a large number of friction estimation algorithms have been developed, those algorithms mainly focus on a single direction, either longitudinal or lateral, but cannot estimate the tyre friction in a combined condition. This paper presents an integrated friction estimation algorithm based on a half-car vehicle model that can simultaneously estimate the combined friction condition along the longitudinal and lateral directions with some basic measurements. The algorithm consists of a number of estimations for vehicle roll angle, tyre friction forces, vehicle longitudinal and lateral velocities, and tyre-ground friction index. The proposed algorithm has been verified with actual vehicle test results. The test results demonstrate that the algorithm has a fairly good fidelity for estimation of tyre friction forces, vehicle velocities and road-friction conditions that is described quantitatively by a tyre-road friction index.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2016.078763","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-03DOI: 10.1504/IJVAS.2016.078812
G. Ali, M. A. S. Mollah, S. K. Samantha, P. Chong, Y. Guan
Data dissemination using Road Side Units (RSUs) in Vehicular Ad Hoc Networks (VANETs) got considerable attention to assist the inter-vehicles communication to overcome the vehicle-to-vehicle frequent disconnection problem. An RSU invokes the underlying scheduler to choose a data item to broadcast in order to satisfy the pending requests of vehicles. Conventionally, a scheduler selects a data item based on different metrics, which are usually the deadline of a request, the size of an item and the popularity of an item. In the conventional scheduling manner, normally the popular data items are broadcast many times for maximising the broadcast channel bandwidth. As a consequence, non-popular data items are broadcast very few times, which creates unfairness to the pending requests for the non-popular data items. However, the non-popular data items may also be important for a vehicle. Hence, there is trade-off of achieving higher fairness and gaining higher system throughput. In this study, we investigate this trade-off in the context of RSU-based VANETs and propose a fairness-friendly approach with which the integration of a scheduling algorithm can balance the trade-off of the fairness of service and the system throughput. Simulation results support our proposed approach and offer the expected results.
在车辆自组织网络(VANETs)中，利用路旁单元(Road Side Units, rsu)进行数据分发，以辅助车辆间通信，克服车对车频繁断开的问题，受到了广泛关注。RSU调用底层调度器来选择要广播的数据项，以满足车辆的挂起请求。通常，调度器根据不同的指标选择数据项，这些指标通常是请求的截止日期、项的大小和项的流行程度。在传统的调度方式中，为了使广播信道带宽最大化，通常对流行的数据项进行多次广播。因此，不流行的数据项被广播的次数很少，这对非流行数据项的挂起请求造成了不公平。但是，不常用的数据项对于车辆也可能很重要。因此，在实现更高的公平性和获得更高的系统吞吐量之间存在权衡。在本研究中，我们研究了基于rsu的VANETs环境下的这种权衡，并提出了一种公平友好的方法，通过集成调度算法来平衡服务公平性和系统吞吐量的权衡。仿真结果支持我们提出的方法，并提供了预期的结果。
{"title":"On striking the balance between the fairness of service and throughput in roadside units based vehicular ad hoc networks","authors":"G. Ali, M. A. S. Mollah, S. K. Samantha, P. Chong, Y. Guan","doi":"10.1504/IJVAS.2016.078812","DOIUrl":"https://doi.org/10.1504/IJVAS.2016.078812","url":null,"abstract":"Data dissemination using Road Side Units (RSUs) in Vehicular Ad Hoc Networks (VANETs) got considerable attention to assist the inter-vehicles communication to overcome the vehicle-to-vehicle frequent disconnection problem. An RSU invokes the underlying scheduler to choose a data item to broadcast in order to satisfy the pending requests of vehicles. Conventionally, a scheduler selects a data item based on different metrics, which are usually the deadline of a request, the size of an item and the popularity of an item. In the conventional scheduling manner, normally the popular data items are broadcast many times for maximising the broadcast channel bandwidth. As a consequence, non-popular data items are broadcast very few times, which creates unfairness to the pending requests for the non-popular data items. However, the non-popular data items may also be important for a vehicle. Hence, there is trade-off of achieving higher fairness and gaining higher system throughput. In this study, we investigate this trade-off in the context of RSU-based VANETs and propose a fairness-friendly approach with which the integration of a scheduling algorithm can balance the trade-off of the fairness of service and the system throughput. Simulation results support our proposed approach and offer the expected results.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2016.078812","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-03DOI: 10.1504/IJVAS.2016.078810
M. Bellone, G. Reina
Pavement distresses and potholes represent road hazards that can cause accidents and damages to vehicles. The latter may vary from a simple flat tyre to serious failures of the suspension system, and in extreme cases to collisions with third-party vehicles and even endanger passengers' lives. The primary scientific aim of this study is to investigate the problem of road hazard detection for driving assistance purposes, towards the final goal of implementing such a technology on future intelligent vehicles. The proposed approach uses a depth sensor to generate an environment representation in terms of 3D point cloud that is then processed by a normal vector-based analysis and presented to the driver in the form of a traversability grid. Even small irregularities of the road surface can be successfully detected. This information can be used either to implement driver warning systems or to generate, using a cost-to-go planning method, optimal trajectories towards safe regions of the carriageway. The effectiveness of this approach is demonstrated on real road data acquired during an experimental campaign. Normal analysis and path generation are performed in post-analysis. This approach has been demonstrated to be promising and may help to drastically reduce fatal traffic casualties, as a high percentage of road accidents are related to pavement distress.
{"title":"Pavement distress detection and avoidance for intelligent vehicles","authors":"M. Bellone, G. Reina","doi":"10.1504/IJVAS.2016.078810","DOIUrl":"https://doi.org/10.1504/IJVAS.2016.078810","url":null,"abstract":"Pavement distresses and potholes represent road hazards that can cause accidents and damages to vehicles. The latter may vary from a simple flat tyre to serious failures of the suspension system, and in extreme cases to collisions with third-party vehicles and even endanger passengers' lives. The primary scientific aim of this study is to investigate the problem of road hazard detection for driving assistance purposes, towards the final goal of implementing such a technology on future intelligent vehicles. The proposed approach uses a depth sensor to generate an environment representation in terms of 3D point cloud that is then processed by a normal vector-based analysis and presented to the driver in the form of a traversability grid. Even small irregularities of the road surface can be successfully detected. This information can be used either to implement driver warning systems or to generate, using a cost-to-go planning method, optimal trajectories towards safe regions of the carriageway. The effectiveness of this approach is demonstrated on real road data acquired during an experimental campaign. Normal analysis and path generation are performed in post-analysis. This approach has been demonstrated to be promising and may help to drastically reduce fatal traffic casualties, as a high percentage of road accidents are related to pavement distress.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2016.078810","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-23DOI: 10.1504/ijvas.2015.070727
M. Werling, P. Reinisch, L. Gröll
This paper describes a power-slide control strategy for rear-wheel driven sports cars capable of tracking a course angle reference signal while stabilising large sliding angles of the vehicle. Owing to small slip angles at the front wheels compared to the ones at the sliding rear wheels and the precise yaw rate measurement, a fairly simple control strategy can be proposed. It assigns the course angle tracking to the electric power steering. The remaining yaw motion is regulated by a first-order sliding-mode throttle controller, so that the vehicle drifts steadily at a given slip angle. The main advantage of the proposed algorithm is that mainly geometric vehicle parameters and only the measurements of the standard stock sensors are required. The performance is demonstrated on a drive-by-wire capable series production car.
{"title":"Robust power-slide control for a production vehicle","authors":"M. Werling, P. Reinisch, L. Gröll","doi":"10.1504/ijvas.2015.070727","DOIUrl":"https://doi.org/10.1504/ijvas.2015.070727","url":null,"abstract":"This paper describes a power-slide control strategy for rear-wheel driven sports cars capable of tracking a course angle reference signal while stabilising large sliding angles of the vehicle. Owing to small slip angles at the front wheels compared to the ones at the sliding rear wheels and the precise yaw rate measurement, a fairly simple control strategy can be proposed. It assigns the course angle tracking to the electric power steering. The remaining yaw motion is regulated by a first-order sliding-mode throttle controller, so that the vehicle drifts steadily at a given slip angle. The main advantage of the proposed algorithm is that mainly geometric vehicle parameters and only the measurements of the standard stock sensors are required. The performance is demonstrated on a drive-by-wire capable series production car.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/ijvas.2015.070727","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-23DOI: 10.1504/IJVAS.2015.070738
S. Sulaiman, P. M. Samin, H. Jamaluddin, R. Rahman, S. A. Bakar
A semi-active controller scheme for magnetorheological (MR) damper of a light-heavy vehicle suspension known as Tyre Force Control (TFC) is proposed. The effectiveness of the proposed TFC algorithm is compared with Groundhook (GRD) control. A simulation model was developed and simulated using MATLAB Simulink software. The performance of the semi-active MR damper using TFC is analytically studied. Ride test was conducted at three different speeds and two different bumps, and the simulation results of TFC and GRD are compared and analysed. The results showed that the proposed controller is able to reduce tyre force significantly compared to GRD control strategy.
{"title":"Tyre force control strategy for semi-active magnetorheological damper suspension system for light-heavy duty truck","authors":"S. Sulaiman, P. M. Samin, H. Jamaluddin, R. Rahman, S. A. Bakar","doi":"10.1504/IJVAS.2015.070738","DOIUrl":"https://doi.org/10.1504/IJVAS.2015.070738","url":null,"abstract":"A semi-active controller scheme for magnetorheological (MR) damper of a light-heavy vehicle suspension known as Tyre Force Control (TFC) is proposed. The effectiveness of the proposed TFC algorithm is compared with Groundhook (GRD) control. A simulation model was developed and simulated using MATLAB Simulink software. The performance of the semi-active MR damper using TFC is analytically studied. Ride test was conducted at three different speeds and two different bumps, and the simulation results of TFC and GRD are compared and analysed. The results showed that the proposed controller is able to reduce tyre force significantly compared to GRD control strategy.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2015.070738","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-23DOI: 10.1504/ijvas.2015.070731
Tianjun Zhu, A. Khajepour, A. Goodarzi, Shih-Ken Chen, B. Litkouhi
This paper introduces a new driver command interpreter (DCI) for vehicle dynamics control, providing optimal calculation of desired CG forces and moments based on driver inputs and road conditions. The proposed DCI is established based on principles of optimal linear quadratic regulator (LQR) theory and vehicle dynamics. The optimal feed-forward and feedback gains of proposed DCI can be updated in real time by online matrix calculation. Analytical simulations and experimental test results under various driving conditions are presented to evaluate the proposed DCI and vehicle dynamics control system. The simulation and experimental results indicate that the vehicle dynamics control system using the proposed DCI can effectively stabilise the vehicle motion and improve the vehicle handling under critical driving conditions.
{"title":"Development of an optimal driver command interpreter for vehicle dynamics control","authors":"Tianjun Zhu, A. Khajepour, A. Goodarzi, Shih-Ken Chen, B. Litkouhi","doi":"10.1504/ijvas.2015.070731","DOIUrl":"https://doi.org/10.1504/ijvas.2015.070731","url":null,"abstract":"This paper introduces a new driver command interpreter (DCI) for vehicle dynamics control, providing optimal calculation of desired CG forces and moments based on driver inputs and road conditions. The proposed DCI is established based on principles of optimal linear quadratic regulator (LQR) theory and vehicle dynamics. The optimal feed-forward and feedback gains of proposed DCI can be updated in real time by online matrix calculation. Analytical simulations and experimental test results under various driving conditions are presented to evaluate the proposed DCI and vehicle dynamics control system. The simulation and experimental results indicate that the vehicle dynamics control system using the proposed DCI can effectively stabilise the vehicle motion and improve the vehicle handling under critical driving conditions.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/ijvas.2015.070731","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-23DOI: 10.1504/ijvas.2015.070724
Chunyun Fu, R. Hoseinnezhad, A. Bab-Hadiashar, R. Jazar
An electronic differential for high-performance electric vehicles with independent driving motors is proposed in this paper. This electronic differential endows the electric vehicle with a close-to-zero vehicle side-slip angle. When vehicle side-slip vanishes, the heading direction of the vehicle coincides with the velocity direction of the mass centre. In addition to the side-slip angle, the yaw rate is driven towards an optimal value with the configuration of the simulated vehicle. The improvements in vehicle side-slip angle and yaw rate responses greatly enhance the stability and handling of the simulated electric vehicle. In this paper, the mathematical relationships between the vehicle dynamic states and the independent motor torques are revealed, based on which the proposed electronic differential controller is designed. Simulation results manifest that in various challenging steering scenarios, the proposed control method outperforms two common electronic differential control schemes in terms of vehicle side-slip angle and yaw rate responses.
{"title":"Electric vehicle side-slip control via electronic differential","authors":"Chunyun Fu, R. Hoseinnezhad, A. Bab-Hadiashar, R. Jazar","doi":"10.1504/ijvas.2015.070724","DOIUrl":"https://doi.org/10.1504/ijvas.2015.070724","url":null,"abstract":"An electronic differential for high-performance electric vehicles with independent driving motors is proposed in this paper. This electronic differential endows the electric vehicle with a close-to-zero vehicle side-slip angle. When vehicle side-slip vanishes, the heading direction of the vehicle coincides with the velocity direction of the mass centre. In addition to the side-slip angle, the yaw rate is driven towards an optimal value with the configuration of the simulated vehicle. The improvements in vehicle side-slip angle and yaw rate responses greatly enhance the stability and handling of the simulated electric vehicle. In this paper, the mathematical relationships between the vehicle dynamic states and the independent motor torques are revealed, based on which the proposed electronic differential controller is designed. Simulation results manifest that in various challenging steering scenarios, the proposed control method outperforms two common electronic differential control schemes in terms of vehicle side-slip angle and yaw rate responses.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/ijvas.2015.070724","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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