Modelling of Driver/Vehicle Directional Control System

Guo, Konghui; Guan, Hong

doi:10.1080/00423119308969025

Cited by 163 publications

(85 citation statements)

References 6 publications

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“…Many researchers believe that using a single preview point for describing a driver model is unrealistic and, therefore, unsatisfactory [7,10,11]. If the look-ahead point is too far in front of the vehicle, it will be inappropriate to act on the preview information at the time of its acquisition, and the information has been lost by the time it is useful.…”

Section: Development Of a Path-following Driver Modelmentioning

confidence: 99%

“…Although optimum control models are suitable for learned events, such as the circuit driving of race cars, some care must be exercised with their use for evaluating the performance of regular passenger cars. Since the average driver of a passenger vehicle is generally unskilled, the application of modelling techniques in which repeated simulations are used to discover the so-called 'best' way of achieving a maneuver may not be an appropriate way of simulating an emergency situation, where the driver has only one attempt to complete the maneuver [7,10]. Moment-bymoment feedback models are a subset of the optimum control models, with the difference being that the feedback parameters of the controller are set once by the analyst and remain constant thereafter.…”

Section: Modelling the Behaviour Of A Drivermentioning

confidence: 99%

“…The role of the driver model is to calculate the control inputs required to successfully follow a predefined path. Such a driver model can be implemented as an inverse dynamics problem [6] or by a representation of a driver that can look ahead, preview the path, and change the steering wheel angle accordingly [7,8].…”

Section: Modelling the Behaviour Of A Drivermentioning

confidence: 99%

See 2 more Smart Citations

Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle

Jalali¹,

Lambert²,

McPhee³

2012

SAE Int. J. Passeng. Cars - Electron. Electr. Syst.

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A two-passenger all-wheel-drive urban electric vehicle (AUTO21EV) with four in-wheel motors and an active steering system has been designed and developed at the University of Waterloo. In order to evaluate the handling and performance of such a vehicle in the design stage and analyze the effectiveness of different chassis control systems before implementing them in the real vehicle, the simulation of a large number of different open-loop and closed-loop test maneuvers is necessary. Thus, in the simulation environment, not only is a mathematical vehicle model needed for every test maneuver, but a driver model must also be designed to simulate the closed-loop test maneuvers. The role of the driver model is to calculate the control inputs required to successfully follow a predefined path. Such a driver model can be implemented as an inverse dynamics problem or by a representation of a driver that can look ahead, preview the path, and change the steering wheel angle and acceleration or brake pedal positions accordingly. In this regard, a path-following driver model is developed in this work with an advanced path previewing technique. In addition, a gain scheduling speed control driver model is developed for the AUTO21EV, which adjusts the drive torques of the wheels to minimize the deviation between the desired and actual vehicle speeds.

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Section: Development Of a Path-following Driver Modelmentioning

confidence: 99%

Section: Modelling the Behaviour Of A Drivermentioning

confidence: 99%

See 1 more Smart Citation

Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle

Jalali¹,

Lambert²,

McPhee³

2012

SAE Int. J. Passeng. Cars - Electron. Electr. Syst.

View full text Add to dashboard Cite

show abstract

“…Nevertheless, the controller should also be tested in the closed-loop maneuvers, so that the driver's reactions to the vehicle dynamic responses can be studied and analyzed. This study employs the OPA driver model to mimic the human driver behavior (Guo and Guan, 1993). By using the schematic representation of Fig.…”

Section: Driver Modelmentioning

confidence: 99%

A terminal sliding mode based torque distribution control for an individual-wheel-drive vehicle

Song

Zong

Tomizuka

2014

J. Zhejiang Univ. Sci. A

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This paper presents a torque distribution method for an individual-wheel drive vehicle, in which each wheel is controlled individually by its own electric motor. The terminal sliding mode technique is employed for the motion control so as to track the desired vehicle motion obtained by interpreting the driver's commands. Thus, finite-time convergence of the system's dynamic errors can be achieved on the terminal sliding manifolds, as compared to the well-used linear sliding surface. By considering nonlinear constraints of the tire adhesive limits, a simple yet effective distribution strategy is introduced to allocate the motion control efforts to each of the four wheels. Through the use of a high-fidelity CarSim full-vehicle model, vehicle stability and handling performance of the proposed controller is evaluated in both open-and closed-loop simulations.

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“…A lot of directional control methods have been proposed, such as the single point preview optimal curvature model [1][2][3] , the self-paced preview tracking control model [4] , the time-invariant optimal control method [5] , the multi-point preview model [6] and so on. However, as far as we are concerned, the investigation on directional control approaches of three-axle heavy vehicle is seldom found.…”

Section: Introductionmentioning

confidence: 99%

Directional Control of a Driver-Heavy-Vehicle Closed-Loop System

Yang

Chen

2011

AEF

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Abstract.A two degree of freedom (DOF) lateral dynamic model for a three-axe heavy vehicle is set up and the vehicle ordinary differential equations of motion are derived. The nonlinear lateral tire forces are obtained by Gim model with vertical loads, slip angles and cornering performances of front and rear tires being input parameters. A revised closed-loop single-point preview method is proposed to model the driver's directional control performance. In this proposed method, the steering angle of front wheels is calculated in real time according to the track error between a certain point ahead of the vehicle and the required route. Then the steering angle is input into the vehicle model to gain the dynamic responses and position of the vehicle in next time step. Thus the driver-heavy-vehicle closed-loop system is built. The dynamic responses of the system are simulated on the condition of double lane change and the effects of system parameters on the path following behavior of the vehicle are researched. Then the advice on how to improve the vehicle directional control ability can be brought forward.

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Modelling of Driver/Vehicle Directional Control System

Cited by 163 publications

References 6 publications

Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle

Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle

A terminal sliding mode based torque distribution control for an individual-wheel-drive vehicle

Directional Control of a Driver-Heavy-Vehicle Closed-Loop System

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