Controller design and analysis for automatic steering of passenger cars

You, Sam–Sang; Jeong, Seok–Kwon

doi:10.1016/s0957-4158(01)00005-8

Cited by 32 publications

(16 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The first is a two-degree-of-freedom model with no roll dynamics, a model typically referred to as the 'bicycle model' because it simplifies a four-wheeled vehicle to be a single track vehicle with one tire representing the front axle forces, and one tire on the rear [42,43]. Application examples of the bicycle model can be found in [44][45][46][47][48]. This relatively simple model, including only lateral and yaw dynamics, is used to obtain a number of vehicle parameters used in the more complex roll model discussed next.…”

Section: Vehicle Dynamicsmentioning

confidence: 99%

Fidelity of using scaled vehicles for chassis dynamic studies

Lapapong

Gupta

Callejas

et al. 2009

Vehicle System Dynamics

View full text Add to dashboard Cite

There are many situations where physical testing of a vehicle or vehicle controller is necessary, yet use of a full-size vehicle is not practical. Some situations include implementation testing of novel actuation strategies, analysing the behaviour of chassis feedback control under system faults, or nearunstable situations such as limit handling under driver-assist feedback control. Historically, many have advocated the use of scale vehicles as surrogates for larger vehicles. This article presents analysis and experimental testing that examines the fidelity of using scaled vehicles for vehicle chassis dynamics and control studies. In support of this effort, this work introduces an experimental system called the Pennsylvania State University Rolling Roadway Simulator (the PURRS). In the PURRS, a custom-built scale-sized vehicle is freely driven on a moving roadway surface. While others have used scalevehicle rolling roadway simulators in the past, this work is the first to attempt to directly match the planar dynamic performance of the scale-sized vehicle to a specific full-sized vehicle by careful design of the scale vehicle. This article explains details of this effort including vehicle dynamic modelling, detailed measurement of model parameters, conditions for dynamic similitude, validation of the resulting experimental vehicle in the time, frequency, and dimensionless domains. The results of the dynamic comparisons between scale-and full-sized vehicles clearly illustrate operational regimes where agreement is quite good, and other regimes where agreement is quite poor. Both are useful to understand the applicability of scale-vehicle results to full-size vehicle analysis.

show abstract

Section: Vehicle Dynamicsmentioning

confidence: 99%

Fidelity of using scaled vehicles for chassis dynamic studies

Lapapong

Gupta

Callejas

et al. 2009

Vehicle System Dynamics

View full text Add to dashboard Cite

show abstract

“…It is well known that the cornering force dependence on tyre slip angle is a nonlinear function of its angle (You and Chai, 1999). In this study, the cornering (or side) forces for front and rear tyres are assumed proportional to the tyre slip angle for small angles and are described by You 277 at UNIV NEBRASKA LIBRARIES on April 5, 2015 tim.sagepub.com Downloaded from…”

Section: Vehicle Dynamics Of Highway Cars For General Lane-followingmentioning

confidence: 99%

Automatic steering controllers for general lane-following manoeuvres of passenger cars using 2-DOF robust control synthesis

You

Jeong

2004

Transactions of the Institute of Measurement and Control

Self Cite

View full text Add to dashboard Cite

This paper deals with the modelling and robust control synthesis of intelligent vehicles for general lateral motion in intelligent transportation system applications. The lateral vehicle dynamics for general lane following are firstly derived in a unified framework. Based on a coprime factor plant description, the two-degree-of freedom based H 1 loop-shaping control scheme is presented for lane keeping and changing manoeuvres simultaneously. The resulting robust controller is generally of high order and has to be reduced for real implementation. Also, the reduced-order controller is evaluated in both the frequency-and the time-domain analysis. Finally, it is found that the proposed automatic steering controller provides robust performance and stability for a given vehicle manoeuvring in the presence of parameter variations of vehicles.A À1 ; A T ; A Ã (Inverse, transpose, conjugate complex transpose) of A C f ; C r Cornering stiffness of the (front, rear) tire I; 0 (Identity, null) matrix with appropriate dimensions J z Vehicle yaw moment of inertia about the z-axis l f ; l r Distance from centre of gravity (CG) to (front, rear) axle m; r (Mass, yaw rate) of the vehicle V; bVehicle (velocity, sideslip angle) at CG d f ; d r (Front, rear) steer angle

show abstract

“…Typically referred to as the "bicycle model", it assumes a single track vehicle that only exhibits lateral and yaw dynamics. This model is commonly used in studies on tire slip estimation [32], vehicle body slip estimation [33], automated steering controllers [34][35][36], and vehicle stability [37,38] to name a few.…”

Section: Model 1-2dof Model Assuming No Roll Dynamicsmentioning

confidence: 99%

A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design

Cameron

Brennan

2005

Dynamic Systems and Control, Parts a and B

View full text Add to dashboard Cite

This work presents results of an initial investigation into models and control strategies suitable to prevent vehicle rollover due to untripped driving maneuvers. Outside of industry, the study of vehicle rollover inclusive of both experimental validation and practical controller design is limited. The researcher interested in initiating study on rollover dynamics and control is left with the challenging task of identifying suitable vehicle models from the literature, comparing these models with experimental results, and determining suitable parameters for the models. This work addresses these issues via experimental testing of published models. Parameter estimation data based on model fits is presented, with commentary given on the validity of different methods. Experimental results are then presented and compared to the output predicted by the various models in both the time and frequency domain in order to provide a foundation for future work.

show abstract

Controller design and analysis for automatic steering of passenger cars

Cited by 32 publications

References 20 publications

Fidelity of using scaled vehicles for chassis dynamic studies

Fidelity of using scaled vehicles for chassis dynamic studies

Automatic steering controllers for general lane-following manoeuvres of passenger cars using 2-DOF robust control synthesis

A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design

Contact Info

Product

Resources

About