An Inverse Linear Model of a Vehicle

Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique of vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver are the control variables; the minimum time required to complete the fitting biker line change is the control object. By using the improved direct multiple shooting method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle minimum time maneuver problem, and can compare the maneuverability of two different vehicles that complete fitting biker line change with the minimum time and the correctness of the model is verified through real vehicle test.

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“…According to the literature [17], the constraints preventing rollover in the course of the vehicle driving are…”

Section: The Optimal Control Model Of Steering Wheel Torquementioning

confidence: 99%

Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

Wang

Bei

Yang

et al. 2015

Mathematical Problems in Engineering

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“…Bernard et al [15,16] presented a nonlinear inverse model of a vehicle that simulates combined steering and braking/driving, the results of which show that the inverse method is useful in solving the problem of path tracking under different braking/driving scenarios. Their model has provided a new idea regarding the development and application of vehicle handling dynamics.…”

Section: Introductionmentioning

confidence: 99%

Minimum Time Overtaking Problem of Vehicle Handling Inverse Dynamics Based on Two Kinds of Safe Distances

Zhao

Zhang

et al. 2018

Chin. J. Mech. Eng.

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Overtaking accidents caused by improper operations performed by a driver occur frequently. However, most studies on overtaking safety have neglected research into driver control input. A novel method is proposed to obtain the driver control input during the overtaking process. Meanwhile, to improve the safety of overtaking, two types of safe distances, and the time of the overtaking are considered. Path constraints are established when considering the two types of safe distances. An optimal control model is established to solve the minimum time maneuver under multiple constraints. Using the Gauss pseudospectral method, the optimal control problem is converted into a nonlinear programming problem, which is then solved through sequential quadratic programming (SQP). In addition, the effectiveness of the proposed method is verified based on the results of a Carsim simulation. The simulation results show that by adopting an inverse dynamics method to solve the manipulation problem of the vehicle's minimum overtaking time, the manipulation capability of a vehicle in completing an overtaking safely within the minimum time can be obtained. This method can provide a reference for research into the active safety of manned and unmanned vehicles.

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“…Bunte et al [9] studied the optimal slip angle under the tracking conditions of the given yaw rate. Bernard and Pickelmann [10] used optimal control method, under the condition of the given path, to calculate the input of the steering angle and braking force/driving force. By considering the lateral acceleration and longitudinal acceleration of a vehicle's centroid as the objective function, Hatwal and Mikulcik [11] repeatedly adopted the method proposed by Newton-Raphson in each time step to obtain the steering angle and braking force/driving force that would satisfy the requirements of the objective function.…”

Section: Introductionmentioning

confidence: 99%

Vehicle Optimal Velocity Curves for Minimum-Time Maneuver

Zhang

Pan

Chen

et al. 2014

Advances in Mechanical Engineering

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A problem in vehicle minimum-time maneuver is the assumption that a vehicle passes through a given path in a minimal amount of time without deviating from the boundary of the given path. Vehicle handling inverse dynamics provides a new perspective to solve such problem. Based on inverse dynamics, this paper transformed the problem of optimal vehicle velocity for minimumtime maneuver into that of optimal control with the objective function of minimum time. The path for minimum vehicle travel time and the optimal control model were established. The optimal velocity curves for three types of paths, namely, monotonically increasing path, monotonically decreasing path, and constant radius path, were analyzed. On this basis, the optimal velocity curves were solved for two kinds of concrete paths: a path of decreasing curvature radius followed by a path of increasing curvature radius and another path of increasing curvature radius followed by a path of decreasing curvature radius. Nine cases of possible optimal velocity curves were acquired. The optimal velocity curve of the given path, that is, a parabola followed by a semicircle, was obtained. Optimal velocity curves can be used as reference for vehicle minimum-time maneuver, which is an important issue for driver safety in fast-moving vehicles.

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An Inverse Linear Model of a Vehicle

Cited by 29 publications

References 3 publications

Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

Minimum Time Overtaking Problem of Vehicle Handling Inverse Dynamics Based on Two Kinds of Safe Distances

Vehicle Optimal Velocity Curves for Minimum-Time Maneuver

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