An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking

Tavan, Nematollah; Tavan, Mehdi; Hosseini, Rana

doi:10.1590/1679-78251365

Cited by 40 publications

(23 citation statements)

References 26 publications

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“…Solmaz et al (Solmaz, Corless, & Shorten, 2007) presented a method based on discrete-time systems in active steering control to analyze rolling dynamics of vehicles. Tavan et al (2015) proposed an optimal controller for integrated longitudinal and lateral closed loop vehicle dynamics to follow desired path in various driving maneuvers (Tavan, Tavan, & Hosseini, 2015). The design of a suspension system emphasizes weight reduction (Kong, Abdullah, Omar, & Haris, 2016) Active and semi-active suspension systems are kinds of automotive suspension mechanisms that control cyclic vertical movement of the car in a broad frequency range and energy waste through real-time feedback.…”

Section: Introductionmentioning

confidence: 99%

Rollover Index for the Diagnosis of Tripped and Untripped Rollovers

Kazemian

Fooladi

Darijani

2017

Lat. Am. j. solids struct.

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It is necessary to detect danger as soon as possible to avoid rollover of a vehicle in sudden events. Using rollover index in real time can be used for this purpose. The traditional rollover indices currently applying in the vehicles can only detect the untripped rollover due to severe lateral acceleration in vehicles. These indices cannot detect the tripped rollover resulted from vertical external forces in a long direction. There are recently many quantitative studies about the tripped rollover and an index was also introduced to this kind of rollover. In this research, we examined the dynamics of a SUV to improve this index and also presented a new index to detect the both types of rollovers. The precision and accuracy of the new index was evaluated by simulation in industrial software of Carsim. The numerical results of the new developed model were compared with the test results of an automobile at one-eighth scale in equal conditions and inputs. The results are indicative of the better performance of the new model presented in this research. KeywordsVehicle dynamics, Tripped rollover, Untripped rollover, Rollover index, Suspension system Rollover Index for the Diagnosis of Tripped and Untripped Rollovers

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Section: Introductionmentioning

confidence: 99%

Rollover Index for the Diagnosis of Tripped and Untripped Rollovers

Kazemian

Fooladi

Darijani

2017

Lat. Am. j. solids struct.

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“…As discussed previously, the proposed ISPFCE algorithm can be applied in combination with previously-investigated motion controllers. In the simulation, two motion controllers were designed for comparison, one based on fuzzy model predictive control [12] (Controller A) and one based on a linear quadratic regulator [40] (Controller B). The performances of these motion controllers with and without the proposed ISPFCE algorithm are presented for comparison.…”

Section: Numerical Simulationmentioning

confidence: 99%

Integrated Speed Planning and Friction Coefficient Estimation Algorithm for Intelligent Electric Vehicles

et al. 2019

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To improve the safety of intelligent electric vehicles and avoid side slipping on curved roads with changing friction coefficients, an integrated speed planning and friction coefficient estimation algorithm is proposed. With this algorithm, the speeds of intelligent electric vehicles can be planned online using estimated road friction coefficients to avoid lane departures. When a decrease in the friction coefficient is detected on a curved road with a large curvature, the algorithm will plan a low and safe speed to avoid side slipping. When a normal friction coefficient is detected, the algorithm will plan a higher speed for normal driving. Simulations using MATLAB and CarSim have been performed to demonstrate the effectiveness of the designed algorithm. The simulation results suggest that the proposed algorithm is applicable to speed planning on curved roads with changing friction coefficients.

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“…To control the vehicle’s roll and lateral stability, the LQR theory defined the performance index as follows [ 24 ]:

where:

, with i = 1–5, are the factors indicating the influence of each variable; The subindex d indicates the desired value for that state variable;

is the moment performed around the x axis to control the vehicle, which can be expressed as:

with:

…”

Section: Lqr Controllermentioning

confidence: 99%

“…Equation ( 21 ) can be rewritten into the standard optimal control expression for the discrete problem as shown in Equation ( 23 ) [ 24 ]:

where: x

is the desired response of the state vector in sample k :

with the desired yaw rate as described in [ 25 ]. Q is the positive semi-definite state weighting matrix:

R is the positive semi-definite control weighting matrix:

…”

Section: Lqr Controllermentioning

confidence: 99%

A LQR-Based Controller with Estimation of Road Bank for Improving Vehicle Lateral and Rollover Stability via Active Suspension

Riofrio

Boada

2017

Sensors

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In this article, a Linear Quadratic Regulator (LQR) lateral stability and rollover controller has been developed including as the main novelty taking into account the road bank angle and using exclusively active suspension for both lateral stability and rollover control. The main problem regarding the road bank is that it cannot be measured by means of on-board sensors. The solution proposed in this article is performing an estimation of this variable using a Kalman filter. In this way, it is possible to distinguish between the road disturbance component and the vehicle’s roll angle. The controller’s effectiveness has been tested by means of simulations carried out in TruckSim, using an experimentally-validated vehicle model. Lateral load transfer, roll angle, yaw rate and sideslip angle have been analyzed in order to quantify the improvements achieved on the behavior of the vehicle. For that purpose, these variables have been compared with the results obtained from both a vehicle that uses passive suspension and a vehicle using a fuzzy logic controller.

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An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking

Cited by 40 publications

References 26 publications

Rollover Index for the Diagnosis of Tripped and Untripped Rollovers

Rollover Index for the Diagnosis of Tripped and Untripped Rollovers

Integrated Speed Planning and Friction Coefficient Estimation Algorithm for Intelligent Electric Vehicles

A LQR-Based Controller with Estimation of Road Bank for Improving Vehicle Lateral and Rollover Stability via Active Suspension

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