Modeling and Control of Steering System of Heavy Vehicles for Automated Highway Systems

Tai, Masayuki; Hingwe, Pushkar; Tomizuka, Masayoshi

doi:10.1109/tmech.2004.839047

Cited by 43 publications

(22 citation statements)

References 15 publications

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“…There are several safety, economic and environmental benefits that can be realised with autonomous driving and it is only possible if active steering is in place, see e.g. Tai, Hingwe, and Tomizuka (2004). This chapter gives a brief overview of different solutions to increase safety and existing solutions to how active steering is realised on the hardware side.…”

Section: Active Steeringmentioning

confidence: 99%

“…At high speed, however, it is the lateral position of the vehicle that is to be controlled. One way to do this is to use a nested controller, as is done by Tai, Hingwe, and Tomizuka (2004), where the inner controller is for the steering system. The linear state feedback controller for the valves, section 6.3.1, is considered here.…”

Section: Position Control For Autonomous Steeringmentioning

confidence: 99%

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On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. These are functions that aim at assisting the driver in more or less critical situations and could be anything from applying a guiding steering torque to taking over the steering completely. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. This refers to the possibility to control the steering angle or steering torque with an electronic signal.The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through an open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. The system provides a robust solution but suffers from poor energy efficiency and lacks the possibility of active control. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on.In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control, the most common control strategy in power steering systems, and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Detailed models at both a component level and a system level are developed and form the basis of the analysis and control design. Another important tool is hardware-in-the-loop simulation. A test rig of the system, that also includes the original system, is developed. The rig supports the modelling and validation process, as it also makes it possible to verify control concepts on a real system. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has i on a system level. As it turns out, the valves add a great deal of phase shift and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the phase shift is much less critical.Keywords: Electrohydraulic power steering, pressure control, closed-centre steering, Boost curve control, autonomous driving, hardware-...

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Section: Active Steeringmentioning

confidence: 99%

Section: Position Control For Autonomous Steeringmentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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“…Another system is the pedestrian safety system, where both brakes and steering are used to avoid collisions with pedestrians, [8]. Active steering is also a prerequisite when it comes to autonomous driving, [9], or steer-by-wire-systems, [10].…”

Section: Introductionmentioning

confidence: 99%

“…Active steering is also possible. A similar system was modelled and controlled in [9], where the objective was autonomous driving.…”

Section: Introductionmentioning

confidence: 99%

Modeling, Simulation, and Experimental Investigation of an Electrohydraulic Closed-Center Power Steering System

Dell’Amico

Krus

2015

IEEE/ASME Trans. Mechatron.

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Abstract-In steering-related active safety systems, active steering is a key component. Active steering refers to the possibility to control the road wheel angle or the required torque to turn the wheels by means of an electronic signal. Due to the high axle loads in heavy vehicles, hydraulic power is needed to assist the driver in turning the wheels. One solution to realise active steering is then to use electronically controlled valves that are of closed-centre type. This means that the assistance pressure, or force, can be set to any feasible value and still benefit from the high power density of fluid power systems. A closed-centre solution also implies that a significant reduction in fuel consumption is possible. This paper investigates such an electrohydraulic power steering system and a comparison with the original system is also made. The findings have shown that while a high response of the pressure control loop is desired for a good steering feel, instability might occur at higher steering wheel torque levels. This has effectively been shown and explained by simulation and hardware-in-the-loop simulation, together with linear analysis. For any desired boost curve, the response of the pressure control loop must be designed to preserve stability over the entire working range.

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“…They used a bicycle model and real-time estimation for the control and the cancelation of the effects of steering system dynamics and tire disturbance forces. Furthermore, there have been several applications for automated highway systems (AHSs) targeted at heavy vehicles [22]. Those authors incorporated an inner loop controller into the nested lateral control architecture for autonomous driving.…”

Section: Introductionmentioning

confidence: 99%

Cascade Architecture for Lateral Control in Autonomous Vehicles

Pérez

Milanés

Onieva

2011

IEEE Trans. Intell. Transport. Syst.

112

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Modeling and Control of Steering System of Heavy Vehicles for Automated Highway Systems

Cited by 43 publications

References 15 publications

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Modeling, Simulation, and Experimental Investigation of an Electrohydraulic Closed-Center Power Steering System

Cascade Architecture for Lateral Control in Autonomous Vehicles

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