Friction circle estimation-based torque distribution control of six-wheeled independent driving vehicles for terrain-driving performance

Nah, Jaewon; Seo, Jongsang; Yi, Kyongsu; Kim, Wongun; Lee, Jong-Seok

doi:10.1177/0954407014564780

Cited by 9 publications

(4 citation statements)

References 22 publications

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“…Assuming that the road surface is flat, it can generally be estimated using longitudinal and lateral accelerations [21]. For rough or slippery road surfaces, it can be estimated using a slip-ratio [27]. As the driving situation on a flat road surface is assumed, the first method is cited in this paper.…”

Section: Control Allocationmentioning

confidence: 99%

Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

Nah

Yim

2021

Energies

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To enhance vehicle maneuverability and stability, a controller with 4-wheel steering (4WS), electronic stability control (ESC) and a torque vectoring device (TVD) under constraint on the front slip angles is designed in this research. In the controller, the control allocation method is adopted to generate yaw moment via 4WS, ESC and TVD. If the front steering angle is added for generating yaw moment, the steering performance of the vehicle can be further deteriorated. This is because the magnitude of the lateral tire forces are limited and the required yaw moment is insufficient. Constraint is imposed on the magnitude of the front slip angles in order to prevent the lateral tire forces from saturating. The driving simulation is performed by considering the limit of the front slip angle proposed in this study. Compared to the case that uses the existing 4WS, the results of this study are derived from the actuator combination that enhances performance while maintaining stability.

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Section: Control Allocationmentioning

confidence: 99%

Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

Nah

Yim

2021

Energies

Self Cite

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“…Thus, the maximum tire force that can be generated for given road adhesion μ ϕ is limited to F max = μ ϕ F z . For the combined slip condition, the adhesion coefficient can be determined from the lateral and longitudinal forces based on friction ellipse as 43,44…”

Section: Vehicle Dynamicsmentioning

confidence: 99%

Hierarchical coordinated control distribution and experimental verification for six-wheeled unmanned ground vehicles

Prasad

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In recent years, the all-wheel independent drive has been the most promising form of drive configuration in unmanned ground vehicles. Considering the difficulties in the control allocation for this kind of vehicle, this paper presents a hierarchical control coordination strategy with three layers to distribute control in real time effectively and accurately. In the upper layer, a hybrid instruction parsing method is proposed, which converts commands of the control panel into driving force requirement and target steering yaw rate, respectively, to prioritize steering command to maintain the trajectory based on the motor properties. Subsequently, a sliding mode controller is employed to convert the target yaw rate into the required yaw moment. The state estimation layer receives data from the sensors and estimates different properties/parameters required in other layers. The lower-level control layer receives commands from the upper layer and allocates respective control to wheels. The control allocation problem has been formulated as an optimization problem and later has been converted into a quadratic programming problem, in which a novel modified barrier method with the combination of reduced equation dimension has been adopted to minimize the computational effort and complexity for implementation on the embedded platform. Computer simulation and field experiment have been conducted, which verify the performance of the proposed strategy.

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“…Early studies [26, 27] have regarded the vehicle as a particle to simplify the calculation process, while the size of vehicle was ignored. Then, some researchers [28, 29] have used a circle wrapped around the vehicle to build the vehicle model, which treated the length of the vehicle as the diameter of circle, as shown in Fig. 3 a .…”

Section: Lane‐changing Trajectory Planning Modelmentioning

confidence: 99%

Lane‐changing trajectory planning method for automated vehicles under various road line‐types

et al. 2020

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This study proposes a lane-changing trajectory planning method for automated vehicles under various road linetypes. The method uses the polynomial regression model to describe the road line-types, and then a non-linear optimisation model is constructed to generate the lane-changing trajectory based on the road polynomial functions. The process of connecting the lane-changing manoeuvre with the car-following manoeuvre is discussed in this study, which ensures the ride comfort of the ego vehicle after the lane-changing manoeuvre. Moreover, considering that the lag vehicle on the target lane may be affected by the lane-changing manoeuvre, the situation that the lag vehicle maintains the car-following manoeuvre with the ego vehicle is taken into account in the authors' model. Another small innovation is that they have designed a simple and effective method to find the suitable initial guess for the proposed non-linear optimisation model. The simulation results show that the lane-changing trajectory generated by the proposed model is smooth and continuous, and the automated vehicle can avoid potential collisions efficiently during the lane-changing process. In emergent conditions, the proposed model can also plan the corrected trajectory to ensure safety.

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Friction circle estimation-based torque distribution control of six-wheeled independent driving vehicles for terrain-driving performance

Cited by 9 publications

References 22 publications

Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

Hierarchical coordinated control distribution and experimental verification for six-wheeled unmanned ground vehicles

Lane‐changing trajectory planning method for automated vehicles under various road line‐types

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