Vehicle Lane Change Automation with Active Steering - Theoretical Studies and Numerical Investigations

Gidlewski, Mirosław; Jankowski, Krystof; Muszyński, Andrzej; Żardecki, Dariusz

doi:10.4271/2017-01-1555

Cited by 9 publications

(7 citation statements)

References 14 publications

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“…After the equations have been linearised, they can be subjected to the Laplace transform and then the model was determined as a transfer function forms (Figure 4): 𝑠(𝑇 0 2 𝑠 2 +2𝜉 0 𝑇 0 𝑠+1) (10,11) where: The above representation of the transfer functions show a very strong connection between the transfer functions parameters and the mechanical parameters. The transfer functions show the essence of the effects of steering angles on lateral and angular displacements.…”

Section: Transmittance Formulation Of the Modelmentioning

confidence: 99%

“…The bicycle model is one of the models that forms the basis for considering the control concept in cars (2WS as well as 4WS), which can be seen from several publications in which this model appears together with other solutions. In papers [1], [9], [10] and [21] the bicycle model is used together with the MPC (Model Predictive Control) technique for the process of lane change. A wider spectrum has even devoted several review papers to the bicycle model: [5], [6], [8], [16] and [17].…”

Section: Introductionmentioning

confidence: 99%

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The bicycle model of a 4WS car lateral dynamics for lane change controller

Dębowski

Faryński

Żardecki

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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The article shows the validity of four-wheel steering (4WS) bicycle model. At the beginning it is presented in which tasks, connected with 4WS vehicles, the bicycle model is applied. Then the equations in local coordinate system and their forms in global coordinate system are presented. The research tested the response of the model to a lane change manoeuvre, using transfer functions and a “bang-bang” control signal. The transfer functions was connected with static ratio characteristic to construct full four-wheel steering model. A reference signal generator and vehicle model were constructed in analytical form and checked in Matlab&Simulink using sample vehicle’s data from another literature item. One example of simulations was shown. The results presented led to interesting conclusions and indicated directions for further research. This research will include the issue of regulators derivation. This will allow for the construction of a fully functioning control system. The effects of this activities will be tested again in simulation environment.

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Section: Transmittance Formulation Of the Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The bicycle model of a 4WS car lateral dynamics for lane change controller

Dębowski

Faryński

Żardecki

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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“…The tire is one of the most important elements of the vehicle. Its construction and the materials used affect, among others, traction and controllability of the vehicle, especially in critical conditions of its motion [1,2]). It is also an important, next to the suspension [3], an elastic-damping element that codecides on the driving comfort and car movement of the car in various road conditions [4].…”

Section: Introductionmentioning

confidence: 99%

Quasi-static research of cornering stiffness for selected tires of UTV/ATV vehicles

Jackowski

Żmuda

Wieczorek

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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The cornering stiffness is an important feature of the tire influences the dynamic behavior of the vehicle in curvilinear motion. The article presents results of quasi-static research of cornering stiffness. Two non-pneumatic tires (NPTs) of similar size and a pneumatic tire for utility terrain vehicles (UTVs) or all-terrain vehicles (ATVs) were selected for the research. The analysis of the research results showed a significant influence of the flexible structure of NPTs on the values of lateral forces.

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“…3. This has been described in detail in authors' publications [9], [10]. The mathematical formulas defining the parameters of these regulators (of the proportional-derivative (PD) type in this case) require that the amplification coefficient GΩδ0, which directly depends on the reference model parameters (V, m, etc.…”

Section: Concept Of Automatic Control Of the Lane-change Processmentioning

confidence: 99%

“…[8]). A more detailed introduction to the closed-loop system control issues may be found in authors' publications [9], [10].…”

Section: Introductionmentioning

confidence: 99%

Simulation Research on the Process of Lane Change by a Motor Vehicle Steered in an Open- And Closed-Loop System

Gidlewski¹,

Jemioł²,

Żardecki³

2017

WIT Transactions on the Built Environment

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Within a more extensive research project, analytic work and simulation research was undertaken on the use of an active steering system for the automatic performing of a lane-change manoeuvre. Based on the general optimal control theory, a controller algorithm was developed, where a simplified reference model of the lateral dynamics of a motor vehicle, known as a "bicycle model", was used. The controller generates a reference signal of the steering wheel angle and corrects this signal by means of Kalman regulators, applied to minimize the deviations between the reference and actual signals representing the variables that describe the vehicle trajectory. In spite of quite complicated functions, the algorithm having been developed is characterized by a simple and, at the same time, effective analytical description. For the algorithm to be validated, it was subjected to extensive simulation tests. In these tests, the steered object was a two-axle motor truck of medium load capacity, driven with quite a high speed. The vehicle model (3D, nonlinear, of the multi-body simulation (MBS) type, experimentally verified) made it possible to describe the vehicle dynamics even in extremely difficult operation conditions, where wheel lift-off and significant tyre slip values may also be encountered. In this paper, a fragment of this work has been reported, with presenting information about the controller and results of simulation testing of the dynamics of the lane-change process performed in an open-loop system (without regulators) and in a closed-loop system (with regulators) for different variants of model parameters. To assess the effects of changes in the model parameters, not only comparisons between the curves recorded were made but also integral sensitivity indicators were used. The subject matter of this work may be reasonably expected to arouse interest both in specialists working in the field of mechatronic control systems in motor vehicles and in the researchers who are engaged in exploring the problem of structural sensitivity of nonlinear dynamic systems.

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Vehicle Lane Change Automation with Active Steering - Theoretical Studies and Numerical Investigations

Cited by 9 publications

References 14 publications

The bicycle model of a 4WS car lateral dynamics for lane change controller

The bicycle model of a 4WS car lateral dynamics for lane change controller

Quasi-static research of cornering stiffness for selected tires of UTV/ATV vehicles

Simulation Research on the Process of Lane Change by a Motor Vehicle Steered in an Open- And Closed-Loop System

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