An Optimal Lateral Trajectory Stabilization of Vehicle using Differential Dynamic Programming

Kumar, Mohit; Hildebrandt, Arne-Christoph; Strauß, Peter; Kraus, Sven; Stiller, Christoph; Zimmermann, Andreas

doi:10.1109/iv47402.2020.9304582

Cited by 2 publications

(1 citation statement)

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“…In such complex moving conditions, the car must keep a stable trajectory of movement under the driver's control. There are many studies related to automobile motion stabilization such as: Research on optimizing control inputs to stabilize the horizontal trajectory of the vehicle [1], in these studies refer to transverse automobile dynamics with the effect of tire friction against the road surface, stabilization of the car's horizontal trajectory by controlling the operation of the differential [2], algorithm studies for estimating the transverse velocity and transverse force of tires affecting vehicle stability when cornering, Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle lateral variables during both steady and transient maneuvers [3], building the horizontal stabilization algorithm of cars [4], development of single-track transverse dynamics models for automobiles [5], study of driver models applied to automotive dynamics, a brief look beyond is added to better complete the view on the involved task of driving and driver modeling for automobile dynamics application [6], the paper studies the horizontal stability control of the car using front-wheel steering and in combination with the brake system [7]. When studying the stability of the automobile fully, it is necessary to consider the dynamics of the car [8], stability analysis illustrating the influence of the following attributes on the stability and performance of lateral vehicle Engineering control: Vehicle handling properties, virtual force application point, sensing location, controller damping [9].…”

Section: Introductionmentioning

confidence: 99%

Study of the influence of lateral forces and velocity on the lateral dynamics of automobile

Nguyen,

Bui

2024

Eureka: PE

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Stability of a car's trajectory of motion is the ability of a car to retain its required state of motion, under different conditions of motion. Depending on different states of motion, cars can lose direction of motion instability when there is a lateral force, due to vehicle speed, due to turning or braking the road with different grip coefficients on the sides of the wheel. In such complex moving conditions, cars need to keep a stable trajectory of movement under the driver's control. The paper examines the stability of the car's trajectory in linear motion conditions with the influence of lateral forces and the velocity of the vehicle, these two factors act to change the state of movement of the vehicle, which significantly affects the safety of the vehicle's movement. The authors looked at the effect of vehicle velocity and lateral forces on vehicle transverse dynamics: lateral forces caused by horizontal winds, inclination of the road surface, speed of movement of the vehicle acting on the entire body create centrifugal inertial forces; this force acts to cause the tires to deform. At this point the vehicle is shifted from its original trajectory. In the research content, the authors built a lateral Dynamics Model, in which the influencing factors are set as inputs to the model including vehicle velocity and transverse wind forces, output is the rotation angle of the body, transverse acceleration and horizontal displacement of the vehicle. The simulation results showed that the effect of vehicle speed was relatively large: lateral displacement increased by 228 % at a speed of 120 km/h. Therefore, when driving on the highway, there should always be driver control to ensure that the car does not deviate from the lane

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