Abstract
Under complicated driving situations, such as cornering brake, lane change, or barrier avoidance, the vertical, lateral, and longitudinal dynamics of a vehicle are coupled and interacted obviously. This work aims to propose the suitable vehicle and driver models for researching full vehicle dynamics in complicated conditions. A nonlinear three-directional coupled lumped parameters (TCLP) model of a heavy-duty vehicle considering the nonlinearity of suspension damping and tire stiffness is built firstly. Then a modified preview driver model with nonlinear time delay is proposed and connected to the TCLP model to form a driver-vehicle closed-loop system. The presented driver-vehicle closed-loop system is evaluated during a double-lane change and compared with test data, traditional handling stability vehicle model, linear full vehicle model, and other driver models. The results show that the new driver model has better lane keeping performances than the other two driver models. In addition, the effects of driver model parameters on lane keeping performances, handling stability, ride comfort, and roll stability are discussed. The models and results of this paper are useful to enhance understanding the effects of driver behaviour on full vehicle dynamics.
Highlights
Due to rapid development of highway transportation, the research in the field of vehicle dynamics and control systems has attracted many scholars’ attention
The results show that the new driver model has better lane keeping performances than the other two driver models
A nonlinear three-directional coupled lumped parameters (TCLP) model of heavy-duty vehicle considering the nonlinearity of suspension damping and tire stiffness is built and connected with a proposed modified preview driver model with nonlinear time delay
Summary
Due to rapid development of highway transportation, the research in the field of vehicle dynamics and control systems has attracted many scholars’ attention. The road surface offers lateral and longitudinal forces to a vehicle and vertical forces to suspension, especially under complicated driving situations such as lane change, cornering, or barrier avoidance In these cases, the vertical, roll, and pitch dynamics of a vehicle are coupled with the lateral and yaw motions obviously. A modified single-point preview driver control model with nonlinear time delay considering vehicle speed variation is proposed and a driver-vehicle closed-loop system is constructed. The full vehicle dynamic responses of the closed-loop system in double-lane change are obtained by numerical integration The validity of this closed-loop system is verified by comparison with the results of a field test, the traditional steering stability vehicle model, the linear vehicle model and other driver control models. The effects of driver model parameters such as vehicle running speed, time delay, preview distance, and permit position error on the path-following behavior and threedirectional dynamics of the vehicle are analyzed
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