Small-scale Experimental Test Rig for Lateral Vehicle Control

IF 1.3 Q3 ENGINEERING, MECHANICAL

PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING Pub Date : 2021-03-09 DOI:10.3311/PPME.17269

Illés Vörös, László Turányi, Balázs Várszegi, D. Takács

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引用次数: 1

Abstract

This paper presents the design and implementation of a small-scale hardware-in-the-loop test environment for lateral vehicle dynamics controllers. The test rig consists of a conveyor belt and a 1:10 scale model vehicle. The vehicle is anchored to the frame of the conveyor belt using a special fixture, which constrains only the longitudinal displacement of the car. Therefore, the longitudinal velocity of the vehicle is provided by the conveyor belt, while the steering is generated by the computational unit, where various control methods can be implemented. The test rig is equipped with sensors that provide accurate measurements of the position and orientation of the car, which can be used as feedback in the control algorithms. The paper includes a case study, where the analytical stability analysis of a lane-keeping controller is verified with experiments on the test rig. The proposed test environment provides a compact, cost effective and versatile framework for the testing of various steering control methods in a running vehicle, while maintaining the benefits of a controlled laboratory environment. The experimental setup can also be used for educational and demonstrational purposes.

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小型横向车辆控制实验试验台

本文介绍了一种小型横向车辆动力学控制器硬件在环测试环境的设计与实现。试验台由传送带和1:10比例模型车组成。车辆使用专用夹具固定在传送带的框架上，该夹具仅约束汽车的纵向位移。因此，车辆的纵向速度由传送带提供，而转向由计算单元产生，其中可以实现各种控制方法。测试平台配备了传感器，可以提供汽车位置和方向的精确测量，这些传感器可以用作控制算法中的反馈。以某车道保持控制器为例，通过实验验证了该控制器稳定性分析的正确性。所提出的测试环境为在运行车辆中测试各种转向控制方法提供了一个紧凑、经济有效和通用的框架，同时保持了受控实验室环境的好处。实验装置也可用于教育和示范目的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING ENGINEERING, MECHANICAL-

CiteScore

2.80

自引率

7.70%

发文量

审稿时长

20 weeks

期刊介绍： Periodica Polytechnica is a publisher of the Budapest University of Technology and Economics. It publishes seven international journals (Architecture, Chemical Engineering, Civil Engineering, Electrical Engineering, Mechanical Engineering, Social and Management Sciences, Transportation Engineering). The journals have free electronic versions.