Vehicle Dynamics Modeling for the National Advanced Driving Simulator of a 1997 Jeep Cherokee

Salaani, Mohamed Kamel; Guenther, Dennis A.; Heydinger, Gary J.

doi:10.4271/1999-01-0121

Cited by 32 publications

(17 citation statements)

References 25 publications

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“…To find the optimal solution that minimizes the cost function given in equation (9), we write it in a vector form using the predictive control framework [23], where W j = diag(w y ) and W _ y ¼ diagðw _ y Þ, weighting matrices with nonzero elements on the diagonals, F and G are the state transition matrix and impulse response, as defined in equation (3). Equation (12) can be re-written in a more compact form as,…”

Section: Mathematical Formulationmentioning

confidence: 99%

An adaptive lateral preview driver model

Ungoren¹,

Peng²

2005

Vehicle System Dynamics

201

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Successful modelling and simulation of driver behaviour is important for the current industrial thrust of computer-based vehicle development. The main contribution of this paper is the development of an adaptive lateral preview human driver model. This driver model template has a few parameters that can be adjusted to simulate steering actions of human drivers with different driving styles. In other words, this model template can be used in the design process of vehicles and active safety systems to assess their performance under average drivers as well as atypical drivers. We assume that the drivers, regardless of their style, have driven the vehicle long enough to establish an accurate internal model of the vehicle. The proposed driver model is developed using the adaptive predictive control (APC) framework. Three key features are included in the APC framework: use of preview information, internal model identification and weight adjustment to simulate different driving styles. The driver uses predicted vehicle information in a future window to determine the optimal steering action. A tunable parameter is defined to assign relative importance of lateral displacement and yaw error in the cost function to be optimized. The model is tuned to fit three representative drivers obtained from driving simulator data taken from 22 human drivers.

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Section: Mathematical Formulationmentioning

confidence: 99%

An adaptive lateral preview driver model

Ungoren¹,

Peng²

2005

Vehicle System Dynamics

201

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show abstract

“…The mathematical model is based on the TruckSim 2 software (a product of the Mechanical Simulation Corporation [10]), and is constructed based on vehicle parameters published by the Vehicle Research and Testing Center of the NHTSA [11]. This TruckSim 2 model had been verified against VRTC published test results [12] at two different vehicle speeds with steering and braking inputs that generate lateral acceleration as high as 0.6 g.…”

Section: Simulation Resultsmentioning

confidence: 99%

A study on lateral speed estimation methods

Ungoren

Peng

Tseng

2004

IJVAS

104

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The estimation of vehicle lateral speed, a critical variable for vehicle stability control, four-wheel-steering and other advanced dynamic control systems, is studied in this paper. We presented three different approaches, one each from three categories: transfer function approach, state-space approach, and kinematics approach. The first two methods rely on a vehicle dynamic (bicycle) model, and the last approach is based on the kinematics relationship of measured signals. The basic formulation of all three methods assumed that the road bank angle is negligible, and thus needs to be enhanced by a road bank angle estimation algorithm to work satisfactorily when the road bank is significant. The performance of these three (enhanced) methods are investigated using simulation and experimental data. For the experimental verification, we present four cases: nominal (high friction, flat road), banked road, low-friction, and low-friction-near-spin. Weakness of the three estimation algorithms is discussed.

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“…The Jeep Cherokee mathematical model and its validation process are described in two treatises (Salaani, 1999;Salaani, 2000). Comparing the tire parameter files presented in Salaani (1999) and the "normal" tire parameter files presented in the Ranney paper revealed key differences. At this time, it is uncertain what affect each of the tire parameter changes makes on the tire models.…”

Section: Analysis Of the Nads Simulator Vehicle And Tire Modelsmentioning

confidence: 99%

An Analysis of Driver Reactions to Tire Failures Simulated with the National  Advanced Driving Simulator (NADS)

Rucoba¹,

Carr²,

Liebbe³

et al. 2011

Proceedings of the 6th International Driving Symposium on Human Factors in Driver Assessment, Training, and Vehicle Design : Dr

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Vehicle Dynamics Modeling for the National Advanced Driving Simulator of a 1997 Jeep Cherokee

Cited by 32 publications

References 25 publications

An adaptive lateral preview driver model

An adaptive lateral preview driver model

A study on lateral speed estimation methods

An Analysis of Driver Reactions to Tire Failures Simulated with the National  Advanced Driving Simulator (NADS)

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Vehicle Dynamics Modeling for the National Advanced Driving Simulator of a 1997 Jeep Cherokee

Cited by 32 publications

References 25 publications

An adaptive lateral preview driver model

An adaptive lateral preview driver model

A study on lateral speed estimation methods

An Analysis of Driver Reactions to Tire Failures Simulated with the National Advanced Driving Simulator (NADS)

Contact Info

Product

Resources

About

An Analysis of Driver Reactions to Tire Failures Simulated with the National  Advanced Driving Simulator (NADS)