Low friction emulation of lateral vehicle dynamics using four-wheel steer-by-wire

Russell, Holly E. B.; Gerdes, J. Christian

doi:10.1109/acc.2014.6859409

Cited by 7 publications

(3 citation statements)

References 6 publications

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“…Vehicle stability control algorithms aim at keeping the side slip angle in defined boundaries. In contrast, all-wheel steering enables high side slip angles while the vehicle is stable [24]. Consequently, the wheels' slip angles α ij are considered as measure for vehicle stability and are contained in the prediction model.…”

Section: A Prediction Model Requirementsmentioning

confidence: 99%

Investigating Functional Redundancies in the Context of Vehicle Automation – A Trajectory Tracking Perspective

Stolte

Liao

Nee

et al. 2018

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

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Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all available actuators provide an opportunity to reduce safety requirements for single actuators. Yet, the exploitation of functional redundancies must be well argued if employed in a safety concept as physical limits can be reached. In this paper, we want to examine from a trajectory tracking perspective whether such a concept can be used. For this, we present a model predictive fault-tolerant trajectory tracking approach for over-actuated vehicles featuring wheel individual all-wheel drive, brakes, and steering. Applying this approach exemplarily demonstrates for a selected reference trajectory that degradations such as missing or undesired wheel torques as well as reduced steering dynamics can be compensated. Degradations at the physical actuator limits lead to significant deviations from the reference trajectory while small constant steering angles are partially critical.

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Section: A Prediction Model Requirementsmentioning

confidence: 99%

Investigating Functional Redundancies in the Context of Vehicle Automation – A Trajectory Tracking Perspective

Stolte

Liao

Nee

et al. 2018

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

View full text Add to dashboard Cite

show abstract

“…The yaw rate is then used as a reference for the rear wheels to steer. Russell has also implemented a model reference based control system [5,6] in a unique application. In her work, the model reference is a vehicle in a low friction condition, and a four-wheel steer-by-wire system is used to track the dynamics on a high friction surface.…”

Section: Introductionmentioning

confidence: 99%

Variable wheelbase reference for vehicle with active front and rear-wheel steering

Loyola

Margolis

2021

Vehicle System Dynamics

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Rear-wheel steering has seen new popularity in recent years. Many explanations of rear-wheel steering systems use the concept of a 'virtual wheel base' to explain in-phase or out-of-phase steering. This paper introduces a novel reference model that realises this metaphor. A reference model is created where its wheelbase can be changed arbitrarily, making the resulting system intuitive and simpler to design and tune. This augments the properties of the reference model whose signals are used for a feedback control system. The real vehicle tracks these signals using active front and rear-wheel steering. This system can be implemented in a vehicle using steerby-wire or an autonomous vehicle for control. A MIMO controller is derived and results show that the system operates as intended. Finally, a control law is proposed to change the virtual wheelbase using the road curvature. It is shown that it has advantages over conventional rear-wheel steering control.

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“…Russell and Gerdes show that, with a four-wheel steer vehicle, the vehicle's motion can be altered to emulate a vehicle with different handling characteristics [14]. Akar and Kalkkuhl use four-wheel steering to mimic the handling of buses and vans [15], and Russell and Gerdes demonstrate its use for reproducing the dynamics of driving on low friction surfaces [16]. We apply similar techniques for emulating the lateral dynamics of a faster moving vehicle, thus providing appropriate vestibular feedback for the driver.…”

mentioning

confidence: 99%

High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator

Weiss

Gerdes

2023

IEEE Trans. Intell. Veh.

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Rendering accurate multisensory feedback is critical to ensure natural user behavior in driving simulators. In this work, we present a virtual reality (VR)-based Vehicle-in-the-Loop (ViL) simulator that provides visual, vestibular, and haptic feedback to drivers in high speed driving conditions. Designing our simulator around a four-wheel steer-by-wire vehicle enables us to emulate the dynamics of a vehicle traveling significantly faster than the test vehicle and to transmit corresponding haptic steering feedback to the driver. By scaling the speed of the test vehicle through a combination of VR visuals, vehicle dynamics emulation, and steering wheel force feedback, we can safely and immersively run experiments up to highway speeds within a limited driving space. In double lane change and highway weaving experiments, our high speed emulation method tracks yaw motion within human perception limits and provides sensory feedback comparable to the same maneuvers driven manually.

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Low friction emulation of lateral vehicle dynamics using four-wheel steer-by-wire

Cited by 7 publications

References 6 publications

Investigating Functional Redundancies in the Context of Vehicle Automation – A Trajectory Tracking Perspective

Investigating Functional Redundancies in the Context of Vehicle Automation – A Trajectory Tracking Perspective

Variable wheelbase reference for vehicle with active front and rear-wheel steering

High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator

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