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International Journal of Vehicle Autonomous Systems最新文献

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Electric vehicle side-slip control via electronic differential 通过电子差速器控制电动汽车侧滑
International Journal of Vehicle Autonomous Systems Pub Date : 2015-07-23 DOI: 10.1504/ijvas.2015.070724
Chunyun Fu, R. Hoseinnezhad, A. Bab-Hadiashar, R. Jazar
{"title":"Electric vehicle side-slip control via electronic differential","authors":"Chunyun Fu, R. Hoseinnezhad, A. Bab-Hadiashar, R. Jazar","doi":"10.1504/ijvas.2015.070724","DOIUrl":"https://doi.org/10.1504/ijvas.2015.070724","url":null,"abstract":"An electronic differential for high-performance electric vehicles with independent driving motors is proposed in this paper. This electronic differential endows the electric vehicle with a close-to-zero vehicle side-slip angle. When vehicle side-slip vanishes, the heading direction of the vehicle coincides with the velocity direction of the mass centre. In addition to the side-slip angle, the yaw rate is driven towards an optimal value with the configuration of the simulated vehicle. The improvements in vehicle side-slip angle and yaw rate responses greatly enhance the stability and handling of the simulated electric vehicle. In this paper, the mathematical relationships between the vehicle dynamic states and the independent motor torques are revealed, based on which the proposed electronic differential controller is designed. Simulation results manifest that in various challenging steering scenarios, the proposed control method outperforms two common electronic differential control schemes in terms of vehicle side-slip angle and yaw rate responses.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"13 1","pages":"1-26"},"PeriodicalIF":0.0,"publicationDate":"2015-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/ijvas.2015.070724","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
An effective DVZ–fuzzy logic pilot for a mobile robot using generic architecture 基于通用体系结构的移动机器人有效的dvz模糊逻辑导频
International Journal of Vehicle Autonomous Systems Pub Date : 2014-07-02 DOI: 10.1504/IJVAS.2014.062977
L. Amouri, C. Novales, M. Jallouli, G. Poisson, N. Derbel
{"title":"An effective DVZ–fuzzy logic pilot for a mobile robot using generic architecture","authors":"L. Amouri, C. Novales, M. Jallouli, G. Poisson, N. Derbel","doi":"10.1504/IJVAS.2014.062977","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.062977","url":null,"abstract":"This paper proposes a discussion of a generic controller which is based on a hybrid fuzzy-DVZ algorithm that drives a robotic wheelchair to a desired target and remains free of collision. Furthermore, it overcomes a corner situation constraint that is present in a number of obstacle avoidance strategies in the literature. This algorithm is reactive and generic, but the obtained experimental paths are not optimised and to do so we have used a collaborative assistance using a 2D interface with virtual moving targets. Results are demonstrated in experimental tests.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"201"},"PeriodicalIF":0.0,"publicationDate":"2014-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.062977","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Non-linear steering control for limit handling conditions using preview path curvature 基于预览路径曲率的极限操纵条件非线性转向控制
International Journal of Vehicle Autonomous Systems Pub Date : 2014-07-02 DOI: 10.1504/IJVAS.2014.063043
M. Klomp, K. Olsson, Carl A Sandberg
{"title":"Non-linear steering control for limit handling conditions using preview path curvature","authors":"M. Klomp, K. Olsson, Carl A Sandberg","doi":"10.1504/IJVAS.2014.063043","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.063043","url":null,"abstract":"Path-following steering control has many applications in autonomous driving, which may one day lead to cars running on autopilot. The developed controller addresses the path-following task by the required path curvature to reach a single preview point ahead of the vehicle as input to the controller. A pre-defined non-linear map of steering angle vs. curvature and vehicle speed is used to calculate the required steering angle. Calibration of the controller is done by performing a simple steady-state circle manoeuvre. The controller is evaluated using both simulations and experiments. Excellent path-following performance is achieved all the way up to the limit of adhesion. The actuation is smooth and the error rarely exceeds 1 m even at lateral acceleration levels of up to 10 m/s2.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"266-283"},"PeriodicalIF":0.0,"publicationDate":"2014-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.063043","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Model reference-based vehicle lateral control for lane departure avoidance 基于模型参考的车道偏离规避车辆横向控制
International Journal of Vehicle Autonomous Systems Pub Date : 2014-07-02 DOI: 10.1504/IJVAS.2014.063044
André Benine-Neto, S. Scalzi, S. Mammar, M. Netto, B. Lusetti
{"title":"Model reference-based vehicle lateral control for lane departure avoidance","authors":"André Benine-Neto, S. Scalzi, S. Mammar, M. Netto, B. Lusetti","doi":"10.1504/IJVAS.2014.063044","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.063044","url":null,"abstract":"This paper presents the design and practical implementation of a lane departure avoidance assistance for passenger vehicles based on a state feedback dynamic controller. The road curvature is taken into account as an internal model to ensure convergence of the lateral offset to zero at steady state, even on curvy roads. Lyapunov theory and bilinear matrix inequalities including bounds in the control input and constraints for poles clustering are used to minimise the reachable set of the vehicle after activation of the assistance. The proposed control strategy is simulated in CarSim environment and successfully tested on a prototype vehicle.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"284-306"},"PeriodicalIF":0.0,"publicationDate":"2014-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.063044","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Tyre parameter estimation based on control of individual wheel drives 基于单轮驱动控制的轮胎参数估计
International Journal of Vehicle Autonomous Systems Pub Date : 2014-07-02 DOI: 10.1504/IJVAS.2014.063025
Ulf Andersson, Fredrik Broström, T. Gustafsson
{"title":"Tyre parameter estimation based on control of individual wheel drives","authors":"Ulf Andersson, Fredrik Broström, T. Gustafsson","doi":"10.1504/IJVAS.2014.063025","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.063025","url":null,"abstract":"This paper describes a method to estimate tyre parameters for traction control applications based on control of individual wheel drives. The tyre parameters that are estimated are the rolling radius in driven mode (i.e. the rolling radius when the input torque to the wheel is zero) and the tyre longitudinal elasticity factor. The rolling radius in driven mode and the tyre longitudinal elasticity factor depend on several factors, among them the normal load. An important property of the method is that no transfer of load occurs during the estimation phase since the actual velocity of the vehicle is kept constant. Results from tests with ArtiTRAX, a 240 kg electric vehicle that carries 80 kg extra weight in three different front axle and rear axle distributions, are presented.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"247-265"},"PeriodicalIF":0.0,"publicationDate":"2014-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.063025","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
An empirical study of reliable networking for vehicular networks using IEEE 802.11n 基于IEEE 802.11n的车联网可靠组网实证研究
International Journal of Vehicle Autonomous Systems Pub Date : 2014-03-31 DOI: 10.1504/IJVAS.2014.060060
Seungbae Lee, A. Lim, Qing Yang
{"title":"An empirical study of reliable networking for vehicular networks using IEEE 802.11n","authors":"Seungbae Lee, A. Lim, Qing Yang","doi":"10.1504/IJVAS.2014.060060","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.060060","url":null,"abstract":"The IEEE 802.11n technology is becoming more and more prevalent in wireless networks due to its significant enhancements in network performance. To examine whether the reliability of 802.11n is sufficient for vehicular networks, we conducted extensive experiments on inter-vehicle and intra-vehicle communications in vehicular environments. From this empirical study, we found that 802.11n provides high performance with stable throughput and reliable coverage in most cases. However, 802.11n protocols do not detect frequent changes of propagation and polarisation due to vehicle mobility and its rate adaptation algorithms improperly select multi-stream rates under channel fading conditions, although single-stream rates perform better. Moreover, an optimal antenna alignment that enables High Throughput (HT) operation using parallel data streams needs further investigation in vehicular environments. Our findings have profound implications on the protocol design and appropriate configuration for reliable networking in vehicular networks using 802.11n.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"141-157"},"PeriodicalIF":0.0,"publicationDate":"2014-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.060060","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Closed-loop Controller for Post-Impact Vehicle Dynamics Using Individual Wheel Braking and Front Axle Steering 采用单独车轮制动和前轴转向的碰撞后车辆动力学闭环控制器
International Journal of Vehicle Autonomous Systems Pub Date : 2014-03-31 DOI: 10.1504/IJVAS.2014.060114
Derong Yang, B. Jacobson, M. Jonasson, T. Gordon
{"title":"Closed-loop Controller for Post-Impact Vehicle Dynamics Using Individual Wheel Braking and Front Axle Steering","authors":"Derong Yang, B. Jacobson, M. Jonasson, T. Gordon","doi":"10.1504/IJVAS.2014.060114","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.060114","url":null,"abstract":"This paper presents a vehicle path controller for reducing the maximum lateral deviation (Ymax) after an initial impact in a traffic accident. In previous research, a Quasi-Linear Optimal Controller (QLOC) was proposed and applied to a simple vehicle model with individually controlled brake actuators. QLOC uses non-linear optimal control theory to provide a semiexplicit approximation for optimal post-impact path control, and in principle can be applied to an arbitrary number of actuators. The current work extends and further validates the control method by analysing the effects of adding an active front axle steering actuator at different post-impact kinematics, as well as increasing the fidelity of the vehicle model in the closed-loop controlled system. The controller performance is compared with the results from openloop numerical optimisation which uses the same vehicle model. The inherent robustness properties of the QLOC algorithm are demonstrated by its direct application to an independent high-fidelity multi-body vehicle model. Towards real-time implementation, the algorithm is further simplified so that the computational efficiency is enhanced, whereas the performance is shown not to be degraded.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"158-179"},"PeriodicalIF":0.0,"publicationDate":"2014-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.060114","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
Non–linear dynamics mechanism of road vehicle at losing stability in critical cornering situations 道路车辆临界转弯失稳非线性动力学机理研究
International Journal of Vehicle Autonomous Systems Pub Date : 2014-03-31 DOI: 10.1504/IJVAS.2014.060099
Xiujian Yang, Shuqiao Chen
{"title":"Non–linear dynamics mechanism of road vehicle at losing stability in critical cornering situations","authors":"Xiujian Yang, Shuqiao Chen","doi":"10.1504/IJVAS.2014.060099","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.060099","url":null,"abstract":"This paper studies one of the key techniques to estimate a vehicle’s stability limit in critical cornering situations when designing vehicle stability control systems. With this in mind, this study aims to investigate the dynamics mechanism of road vehicle at losing cornering stability in critical situations. In this work, the non-linear dynamics mechanisms of destabilisation in two operating cases, steady-state cornering and non-steady-state cornering, are discussed. For the steady-state cornering destabilising case, the non-linear dynamics feature is characterised by two phases qualitatively. For the nonsteady-state cornering destabilising case, the dynamics mechanism is elucidated from the viewpoint of system state evolution. The results presented in this paper may be helpful for the analysis and design of vehicle stability control strategies.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"116"},"PeriodicalIF":0.0,"publicationDate":"2014-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.060099","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Mixed H2/H∞ control for electromagnetic active suspension 电磁主动悬架混合H2/H∞控制
International Journal of Vehicle Autonomous Systems Pub Date : 2014-03-31 DOI: 10.1504/IJVAS.2014.060073
Jianyong Cao, Yu Fan, Yongchao Zhang
{"title":"Mixed H2/H∞ control for electromagnetic active suspension","authors":"Jianyong Cao, Yu Fan, Yongchao Zhang","doi":"10.1504/IJVAS.2014.060073","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.060073","url":null,"abstract":"This paper presents a mixed H2/H∞control strategy under main/ torque-tracking loop structure for an electromagnetic active suspension. First, the modelling of the electromagnetic actuator is conducted. Then, the main/torque-tracking loop structure is proposed, in which the main loop calculates the demand torque for electromagnetic actuators based on a full-car suspension model, using mixed H2/H∞ control strategy. Body acceleration, suspension working space, dynamic tyre displacement and demand torque are considered as H2 performance indices, and suspension working space and demand torque are also H∞ performance indices. The torque-tracking loop applies hysteresis current control for electromagnetic actuators to track the demand torque calculated by the main loop. Finally, simulation results demonstrate that the designed controller can greatly improve ride comfort and is less conservative than H∞ controller. The effects of parameter perturbations and dynamic response of suspension system are also studied, indicating that good robustness can be achieved.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"93"},"PeriodicalIF":0.0,"publicationDate":"2014-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.060073","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Vehicle occupancy space for unmanned ground vehicles with actuation error 具有驱动误差的无人地面车辆的车辆占用空间
International Journal of Vehicle Autonomous Systems Pub Date : 2014-03-31 DOI: 10.1504/IJVAS.2014.060115
Rachael A. Bis, H. Peng, A. Galip Ulsoy
{"title":"Vehicle occupancy space for unmanned ground vehicles with actuation error","authors":"Rachael A. Bis, H. Peng, A. Galip Ulsoy","doi":"10.1504/IJVAS.2014.060115","DOIUrl":"https://doi.org/10.1504/IJVAS.2014.060115","url":null,"abstract":"The Velocity Occupancy Space (VOS) algorithm was developed to allow an Unmanned Ground Vehicle (UGV) to avoid moving and stationary obstacles and navigate efficiently to a goal using only uncertain sensor data. The original VOS concept was designed for an ideal, holonomic UGV that was capable of perfect, repeatable and instantaneous velocity changes. The method presented here adapts VOS through the use of Extended Velocity Obstacles (EVOs) so that VOS can operate on experimental UGVs with actuation error. For this research, the EVOs have been designed based on the characteristics of a SuperDroid ATR, but they can be easily calibrated for other velocity-controlled UGVs. The proposed method is validated through numerous simulations and experimental trials.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"12 1","pages":"180-200"},"PeriodicalIF":0.0,"publicationDate":"2014-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2014.060115","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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