Double Lane Change Test Research Articles

Improving vehicle performance and operator ergonomics: Commercial application of smart materials and systems

This article will discuss how controllable material technology, such as the use of active magnetorheological dampers, improves primary and secondary suspensions of vehicle. Although relatively new to the marketplace, semiactive suspensions in commercial automobiles and off-highway vehicles have been proven through the use of active magnetorheological dampers since 1998. In fact, magnetorheological suspension dampers are found today on the commercial vehicles of an increasing number of automotive original equipment manufacturers and leading off-highway original equipment manufacturers. Magnetorheological fluid dampers are simple in design and have the advantage of no moving parts. The resistive force from a magnetorheological damper is generated as iron particles, suspended in the magnetorheological fluid, pass through a magnetic field controlled by the electrical current passing through an electric coil contained within a moving piston surrounded by the fluid. By adjusting the current to the damper coil in response to feedback from vehicle sensors and a controller, the damping response of the suspension can be optimized and controlled in real time to provide optimal operator comfort. The magnetorheological damper system has a full-scale step response of less than 10 ms. Sophisticated control algorithms adapt to large changes in payload, enabling the vehicle to meet ride metrics without pneumatic load leveling. Other benefits of the magnetorheological damping system include higher speed in North Atlantic Treaty Organization double-lane change tests, reduced risk of rollover, improved accuracy of mounted weapons, and improved vehicle durability and readiness.

Verification of 14DOF Full Vehicle Model Based on Steering Wheel Input

This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior. The full vehicle model is then verified with well-known vehicle dynamics software namely CarSimEd based on the driver input from the steering wheel. Three types of vehicle dynamics test are performed for the purpose of model verification namely step steer test, double lane change test and slalom test. The results of model verification show that the behaviors of the model closely follow the behaviors obtained from CarSimEd software with acceptable error.

Modelling, Simulation and Validation of 9 DOF Vehicles Model for Automatic Steering System

Autonomous vehicle have recently arouse great interest and attention in the academic worldwide because of their great potential. As the new features for driver assistance and active safety systems are growing rapidly in vehicles, the simulation within a virtual environment has become a necessity. A vehicle model is required to represent the vehicle behaviour as close as real vehicle in simulation software. This paper presents 9 DOF vehicle models which consist of handling and Calspan tire model develop in Matlab Simulink environment to study the vehicle behaviour for double lane change (DLC) and step steer input test. Those criteria will be compared with validated vehicle software namely CarsimEd to evaluated the performance of the vehicle model involving lateral acceleration, yaw angle and yaw rate from both output. Results show the 9 DOF vehicle closely follows the CarsimEd trends with acceptable error at both conditions.

Methodology for finding parameters related to path tracking skill applied on a DLC test in a moving base driving simulator

The objective of this research is to develop and assess a method that can evaluate the relation of the driver’s path tracking skill to a large number of vehicle parameters. The proposed methodology for comparison of measures under equal conditions is applied on test data from a double lane change test in a moving base simulator. Several measures are found to separate the recruited high and low skill driver groups, with the best results for the second part of the manoeuvre. Standard deviation qualifies for successful driver skill categorisation using commonly sampled data, e.g., steering wheel rate and angular acceleration.

Modelling, validation and roll moment rejection control of pneumatically actuated active roll control for improving vehicle lateral dynamics performance

This paper presents a detailed derivation of a full vehicle model and validation using an instrumented experimental vehicle. Two types of vehicle dynamics test are performed for the purpose of model validation namely step steer test and double lane change test. The results of model validation show that the behaviours of the model closely follow the behaviour of a real vehicle. An active roll control (ARC) suspension system is then developed on the validated full vehicle model to reduce unwanted vehicle motions during cornering manoeuvres. The proposed controller structure for the ARC system is PID control with roll moment rejection loop. The results of the study show that the proposed control structure is able to significantly improve the dynamics performance of the vehicle compared to the passive vehicle system. The additional roll moment rejection loop is able to further improve the performance of the PID controller for the ARC system.

Side-slip control to stabilize vehicle lateral motion by direct yaw moment

Following to the experimental validation of the side-slip estimation by model observer, the experimental study on the effects of the side-slip control by direct yaw moment on stabilizing vehicle motion which is impaired due to nonlinear tire characteristics is carried out. A double lane change test as well as a single lane change test with braking is conducted in order to prove the effect of the control on stabilizing the vehicle motion during severe maneuvering. It is proved that the side-slip control by DYC has a higher ability to stabilize the vehicle motion compared with 4WS because the vehicle losses its stability due to deterioration of rear tire characteristics, however, 4WS has to use the deteriorated rear tire to control the vehicle motion. The side-slip control is also proved to be superior to the yaw rate control to compensate for loss of stability due to nonlinear tire characteristics.

Four-Wheel Independent Steering (4WIS) System for Vehicle Handling Improvement by Active Rear Toe Control.

This paper presents the enhancement of vehicle cornering stability through active and independent rear toe control. Because toe change in the rear wheel during high-speed turning maneuvers is an important factor influencing vehicle stability, the active rear toe control vehicle such as four-wheel steering(4WS)vehicle has been developed in past years. Especially, a toe in the rear outer wheel(bump side)plays a dominant role in cornering, hence the four-wheel independent steering(4WIS)system which selectively or simultaneously controls the rear wheels, could be suggested. In the proposed system, there are some advantages not only in energy consumption, but also in control responsiveness. The independent rear steering strategy using rear toe control scheme has been developed and its performances were evaluated with the ADAMS full vehicle model. Also, 4WIS system is compared to the conventional four-wheel steering(4WS)system through the step input and the double lane change test. The simulation results of 4WIS system show the similar handling performance with those of the conventional 4WS system and the total consumed power to control the system in rear wheels was much reduced.