Vehicle drifting dynamics: discovery of new equilibria

Milani, Sina; Marzbani, Hormoz; Jazar, Reza N.

doi:10.1080/00423114.2021.1887499

Cited by 18 publications

(4 citation statements)

References 23 publications

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“…Figure 5 shows the phase trajectories and (un)stable curves when the rear wheel slip rate is fixed at 0.05. The front wheel steering angle is taken as 0 rad ; the front wheel slip rate is taken as 0 25 ; the initial longitudinal velocity of phase trajectories is taken as 20 m/s; the simulation time is 20 s. Figure 5(a) shows the stable phase trajectories and the unstable phase trajectories in the global region. Figure 5(b) only shows the stable phase trajectories, then it can be seen more intuitively that the stable phase trajectories will converge to two upwardly extending curves.…”

Section: Influence Of Tyre Longitudinal Slip Rate On Stable and Unsta...mentioning

confidence: 99%

Stable and unstable curves in vehicle three-dimensional state space

Meng

Shi

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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In the field of vehicle system dynamics, revealing the dynamic characteristics of nonlinear vehicle models with high degrees of freedom is a key point in current research. In the classic 2-DOF (degrees of freedom) model, the dynamics is analysed and represented in two-dimensional state space. However, it is necessary to reveal the three-dimensional state characteristics of the system when analysing high-DOF vehicle models. The concept of equilibrium points in two-dimensional space will be extended to curves in three-dimensional space, including stable curves and unstable curves, which can qualitatively reveal the evolvement characteristics of the system under different control parameters. In addition, because the dissipation of energy method can quantitatively reveal the global dynamic characteristics of the vehicle, this paper combines the (un)stable curves in the three-dimensional space with dissipation of energy to better analyse the global dynamics characteristics and mutually verify the correctness of conclusions. In this paper, first, the connection between (un)stable curves and region boundary is established. Second, the theoretical analysis of relationship between dissipation of energy and phase trajectories convergence characteristics is perfected. Third, the static and dynamic characteristics of vehicle system are analysed. Therefore, this paper proposed the concept of stable and unstable curves to intuitively reveal the global dynamics characteristics and system evolvement characteristics in three-dimensional state space.

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Section: Influence Of Tyre Longitudinal Slip Rate On Stable and Unsta...mentioning

confidence: 99%

Stable and unstable curves in vehicle three-dimensional state space

Meng

Shi

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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show abstract

“…For strategy design and verification, a self-developed mixed-fidelity simulation platform is used. The platform is implemented using the DifferentialEquations [29] package in Julia, and supports both a bicycle model with Pacejka tire [12], which is used for strategy design, and a higher-fidelity four-wheel model [30] with actuator delay, which is used for strategy verification.…”

Section: Fig 2: the Rc Car Platformmentioning

confidence: 99%

Two-timescale Mechanism-and-Data-Driven Control for Aggressive Driving of Autonomous Cars

Yang

2021

2021 China Automation Congress (CAC)

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Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning performance. This paper presents a solution for the consecutive inertia drift of an autonomous RC car based on primitive-based planning and data-driven control. The planner generates complex paths via the concatenation of path segments called primitives, and the controller eases the burden on feedback by interpolating between multiple real trajectories with different initial conditions into one near-feasible reference trajectory. The proposed strategy is capable of drifting through various paths containing consecutive turns, which is validated in both simulation and reality.

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“…The equilibrium in the plane motion of the vehicle must satisfy the steady state equation, and it is constructed by making the right side of the dynamic equations equal to zero [31]. The accuracy of the equilibrium point solution is evaluated by the value of the fitness function.…”

Section: Introducing the D'alembert Principle Into The 5dof Modelmentioning

confidence: 99%

Research on the Vehicle Steering and Braking Stability Region

Xian-bin

Zhang

et al. 2023

Applied Sciences

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Solving the stability region in the plane motion of vehicles has become a hot research topic in vehicle handling stability under extreme conditions, but there is still a lack of research on the stability region under steering and braking conditions. In this paper, a five-degree-of-freedom (5DOF) nonlinear dynamic model of a vehicle with braking torque introduced is established, and the model is transformed into an equivalent system by using the D’Alembert principle. Then, the equilibrium points of the equivalent system are solved by using an improved hybrid algorithm combining the genetic algorithm (GA) and sequential quadratic programming (SQP) method. According to the bifurcation characteristics of the equilibrium points, the boundary of the stability region at the given initial longitudinal velocity is determined, and the three-dimensional stability region is fitted. Finally, the stability region of the equivalent system and the original system are analyzed by the energy dissipation method, and the stability region determined by the equilibrium point bifurcation method is verified by simulation. The results show that as the braking torque increases, the number of equilibrium points increase to three from one, the equilibrium bifurcation method proposed in this paper can effectively solve the stability region of the equivalent system, and the solution results are consistent with the original system stability region. When the limited braking torque is 500 N·m and the initial longitudinal velocity increases from 30 m/s to 50 m/s, the absolute value of the front wheel steering angle at the boundary point changes from less than 0.02 rad to more than 0.02 rad.

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Vehicle drifting dynamics: discovery of new equilibria

Cited by 18 publications

References 23 publications

Stable and unstable curves in vehicle three-dimensional state space

Stable and unstable curves in vehicle three-dimensional state space

Two-timescale Mechanism-and-Data-Driven Control for Aggressive Driving of Autonomous Cars

Research on the Vehicle Steering and Braking Stability Region

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