Linearization of the lateral dynamics reference model for the motion control of vehicles

Gidlewski, Mirosław; Żardecki, Dariusz

doi:10.1016/j.mechrescom.2016.09.001

Cited by 10 publications

(9 citation statements)

References 1 publication

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“…However, the classical "bicycle model" was modified by performing simple transformations to express the vehicle motion in the global (OXY) system and by linearizing the equations of motion. It has been shown in [10] that for small and short-lived disturbances of motion (such forcing we deal with during obstacle avoidance), linearization of the equations of motion of the vehicle is acceptable.…”

Section: Concept and Mathematical Model Of An Integrated Automatic La...mentioning

confidence: 99%

“…In December 2019, the European Parliament passed legislation mandating (as of May 2022) the mandatory equipping of new models of cars and vans with advanced safety features such as automatically activated emergency braking systems and lane-keeping systems in emergency situations. As part of research project N N509 568439, extensive analytical work was undertaken on the application of Active Front Steering (AFS) in the automatic steering of a two-axle medium-duty truck in accidentprone traffic situations due to a suddenly appearing obstacle [9][10][11][12]. Extensive modeling studies were conducted based on avoiding a sudden obstacle in the shortest possible time and on the shortest possible path resulting from the prevailing road conditions and the traffic condition of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

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Simulation tests of the integrated lane change control system

Gidlewski

Jemioł

Żardecki

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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This paper presents the concept of an integrated control system for lane change by a two-axle truck. In earlier works the authors used only a controller coupled to the steering system for sudden lane changes. Nowadays, the steering system controller is integrated with ESP (Electronic Stability Program) which causes momentary braking of chosen vehicle wheels when traffic destabilization threatens. A simulation study of the integrated control system operation during sudden lane change was performed for an unladen and fully laden car on a wet road in near limiting conditions. The test results were compared with those obtained when this maneuver was performed using only the steering controller.

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Section: Concept and Mathematical Model Of An Integrated Automatic La...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simulation tests of the integrated lane change control system

Gidlewski

Jemioł

Żardecki

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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“…For this purpose, the integrated model is written, as well as the control law for the active suspension. Gidlewski and Zardecki 10 propose a linearization of lateral dynamics model for application on control motion of vehicles. The authors present the motivations for not using the classical bicycle model and present a novel approach more adequate for the control developed on the paper.…”

Section: Introductionmentioning

confidence: 99%

Optimization of vehicle suspension parameters based on ride comfort and stability requirements

Silva

Reinaldo

Montenegro

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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The use of optimization methods in engineering is growing, allowing the best possible way to fulfill the requirements of the project. For vehicle suspensions, there are various conditions, which involve comfort, safety, stability, maneuverability, among others. A safety and stability evaluation is carried out by several tests, including Double Lane Change. In this maneuver, the vehicle must change lanes quickly twice, allowing it to be assessed for stability in sudden movements. For ride comfort, it is common for the design to be based on the vehicle’s natural vibration frequencies. In this context, this work aims to present a methodology for optimizing the suspension parameters of a vehicle, based on the natural frequencies of vibration and the simulation of a Double Lane Change maneuver. For that, it is employed vertical and lateral dynamics mathematical models, with hypotheses that allow the adequate adaptation to the represented phenomena. Finally, Particle Swarm Optimization (PSO) is used, which is a stochastic algorithm, based on nature. It has low computational cost, with reasonable results, allowing the parameters to be estimated and comprising the two objectives simultaneously.

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“…The focus of those methods is to establish the value of nonlinear coefficient b k which is the slope factor. The pre-impact velocity V t is a function of said coefficient and deformation ratio C s [4,[8][9][10][11][12][16][17][18][19][20][21][22][23]20,21,[25][26][27][28]30,[34][35][36][37]39]. The C s determines the body deformation as an arithmetic mean of deformation depth [23] in specific points C 1 to C 6 [13][14][15]23,26,34,35,37,39].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Method of Vehicle Velocity Determination Based on Inverse System and Tensor Product of Legendre Polynomials - Intermediate Class

Gosławski

Gralewski

Krukowski

et al. 2019

The Archives of Automotive Engineering – Archiwum Motoryzacji

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Presented paper discusses two different nonlinear approaches to precrash velocity determination for vehicles from Intermediate Car Class. Data that was used to perform analyses introduced in this paper was taken from National Highway Traffic Safety Administration (NHTSA) database. Such database is comprised of substantial number of crash cases and main focus was put on frontal impacts. Hitherto used energy methods are based on linear model which proves to be inaccurate and producing significant errors. Presented considerations concern the inverse system and tensor product of Legendre polynomials. The focus of those methods is to establish the value of nonlinear coefficient which is the slope factor of precrash velocity Vt and deformation ratio Cs function. The application of the least square method provides more precise results in both cases than in previously researched solutions, with a slight advantage of the tensor product method. The obtained mean relative error of the velocity determination using the inverse system method is approximately 16,22% for the linear model and 10,58% for the nonlinear model. In the case of the tensor product method the errors for linear and nonlinear models are respectively 6,74% and 6,3%.

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Linearization of the lateral dynamics reference model for the motion control of vehicles

Cited by 10 publications

References 1 publication

Simulation tests of the integrated lane change control system

Simulation tests of the integrated lane change control system

Optimization of vehicle suspension parameters based on ride comfort and stability requirements

Nonlinear Method of Vehicle Velocity Determination Based on Inverse System and Tensor Product of Legendre Polynomials - Intermediate Class

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