Lateral Wind Disturbance Research Articles

Active Front Wheel Steering System using Yaw Rate Estimation based Fuzzy Logic Due to Various Lateral Wind Disturbance

The paper devised and compared the performances of PID, fuzzy-tuned PID and fuzzy logic controller in an Active Front Wheel Steering system to stabilize a 9-DOF nonlinear passenger vehicle when subjected to lateral wind disturbance. The vehicle model was derived mathematically and verified with data from IPG CarMaker at a longitudinal speed of 80 km/h. Initially, the disturbance test was conducted using three lateral wind disturbance profiles to test for controller resiliency with zero steering input. Then, a simple but effective yaw rate observer was derived without compromising the linearity of the vehicle model to simulate the disturbance test with a double lane change (DLC) steering input. A more extreme disturbance magnitude was evaluated in the latter test using the developed control designs. The three controllers showed good performances in both disturbance tests, with fuzzy logic having the lowest error out of the three, which is less than 5% for using the estimated yaw rate observer.

Integrated nonlinear model predictive control for automated driving

This work presents a Nonlinear Model Predictive Control (NMPC) scheme to perform evasive maneuvers and avoid rear-end collisions. Rear-end collisions are among the most common road fatalities. To reduce the risk of collision, it is necessary for the controller to react as quickly as possible and exploit the full vehicle maneuverability (i.e., combined control of longitudinal and lateral dynamics). The proposed design relies on the simultaneous use of steering and braking actions to track the desired reference path and avoid collisions with the preceding vehicle. A planar vehicle model was used to describe the vehicle dynamics. In addition, the dynamics of the brake system were included in the NMPC prediction model. Furthermore, the controller incorporates constraints to ensure vehicle stability and account for actuator limitations. In this respect, the constraints were defined on Kamm circle and Ideal Brake Torque Distribution (IBD) logic for optimal tire force and brake torque distribution. To evaluate the design, the performance of the proposed NMPC was compared with two ”more classical” MPC designs that rely on: (i) a linear bicycle model, and (ii) a nonlinear bicycle model. The performance of these three controller designs was evaluated in simulation (using a high-fidelity vehicle simulator) via relevant KPIs, such as reference tracking Root Mean Square (RMS) error, controller’s rise/settling time, and Distance to Collision (i.e., the lateral distance by which collision was avoided safely). Different single-lane-change maneuvers were tested and the behavior of the controllers was evaluated in the presence of lateral wind disturbances, road friction variation, and maneuver aggressiveness.

Lateral Collision Avoidance Robust Control of Electric Vehicles Combining a Lane-Changing Model Based on Vehicle Edge Turning Trajectory and a Vehicle Semi-Uncertainty Dynamic Model

This paper presents a new control scheme for lateral collision avoidance (CA) systems to improve the safety of four-in-wheel-motor-driven electric vehicles (FIWMD-EVs). There are two major contributions in the design of lateral CA systems. The first contribution is a new lane-changing model based on vehicle edge turning trajectory (VETT) to make vehicle adapt to different driving roads and conform to drivers’ characteristic, in addition to ensure vehicle steering safety. The second contribution is vehicle semi-uncertainty dynamic model (SUDM), which is SISO model. The problem of stability performance without the information on sideslip angle is solved by the proposed SUDM. Based on the proposed VETT and SUDM, the lateral CA system can be designed with H∞ robust controller to restrain the effect of uncertainties resulting from parameter perturbation and lateral wind disturbance. Single and mixed driving cycles simulation experiments are carried out with CarSim to demonstrate the effectiveness in control scheme, simplicity in structure for lateral CA system based on the proposed VETT and SUDM.

Nonlinear adaptive tracking for ground vehicles in the presence of lateral wind disturbance and parameter variations

In this paper we design a dynamic controller for the attitude control of a ground vehicle. This controller ensures the tracking of desired references, in the presence of uncertainties in the parameters describing the tire-road friction coefficient and the lateral tire stiffness, and in the presence of external perturbations, such as lateral wind. It incorporates some dynamics reconstructing the lateral vehicle velocity, often not directly measured. Finally, the proposed control scheme allows the identification of the unknown parameters and, at the same time, of the disturbance due to the lateral wind acting on the vehicle. The performance of the dynamic controller is evaluated making use of CarSim considering a challenging double steer maneuver.

Direct Yaw-moment Robust Control for Electric Vehicles Based on Simplified Lateral Tire Dynamic Models and Vehicle Model

There are two major contributions in this paper. One is simplified lateral tire dynamic models proposed to estimate the cornering stiffness of front and rear tires. They can be decoupled and used to construct regression models of the recursive least squares (RLS) easily. The other is simplified direct yaw-moment control (DYC) system. With steering stability constraints and estimated tire cornering stiffness, vehicle model can be simplified from a multiple inputs single output (MISO) system to a single input single output (SISO) system. H ∞ V controller is designed to determine yaw rate to restrain the effect of uncertainties such as parameter perturbation and lateral wind disturbance. By utilizing simplified lateral tire dynamic models and vehicle model, computational burden can be reduced and computation speed can be improved. Simulation experiments demonstrate that the direct yaw-moment H ∞ control based on simplified lateral tire dynamic models and vehicle model is feasible, effective, and reliable.

On Reverse Control Strategy and Anti-Wind Disturbance Analysis of Automotive EPS System

Under the special situation of lateral wind disturbance, the lateral direction was resulted from the conventional obverse control strategy and influenced the vehicle stability. The 2-DOF full-vehicle model with the lateral wind disturbance and EPS dynamic model were designed. Reverse control strategy was designed where the EPS motor provided active steering control to prevent vehicle deflection with the input signal of steering torque under the lateral wind disturbance. In the EPS working process, the reverse control strategy and obverse control strategy were switched according to the drive situation to obtain the best vehicle stability. Anti-disturbance simulation was executed and the results shown that the yaw rate, the slideslip angle, the lateral acceleration and the lateral displacement have been weakened, and the vehicle stability is enhanced. The design of reverse control strategy has engineering significance to the overall design, function enhancement and optimization and steering manipulation and safety improvement.

Design of Anti-Disturbance H∞ Controller of Automotive Electric Power Steering System

Automotive EPS controller is easy to be affected by the parameter perturbations, road agitations, sensor noises and the lateral wind disturbance in the process of vehicle operation. These uncertainties affect the accuracy of assist current, the EPS performance and the driving safety. The mathematical model of EPS system was established including the internal uncertainty and external disturbance. The LFT linear fractional transform representing model and M matrix with stripped uncertainty were designed. The robust H∞ controller and weight function were designed according to the H∞ control theory and performance indexes of EPS system. The comparative performance with PD controller was made. The results showed that the H∞ controller had better robustness and robust stability than the PD controller. It also had great anti-disturbance performance to satisfy the performance requirements of EPS system.

Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

3207 ステアリングギヤ比と操舵トルクの変化に対するドライバ操舵挙動の解析(OS3-1 人間機械系シミュレーション,OS3 交通・物流システムのダイナミクスと制御,TRANSLOG 2006)

Recently, intelligent steering systems using the Electric Power Steering (EPS) system are developed. In order to improve driver's maneuver and vehicle response, steering gear ratio and steering reaction torque are very important issues. Therefore, various steering control systems are proposed. However, ideal characteristic between steering torque and steering angle is not clear. This study proposes the optimal character of steering system in lateral wind disturbance situation. The desirable steering characteristic is investigated in the relation of the steering gear ratio and the steering reaction torque for EPS. Evaluation index is proposed for each driver's performance and vehicle performance. Numerical simulations are conducted and the desirable value for the steering gear ratio and the reaction torque, which minimize by the evaluation, is obtained.

Dynamics of drivers' steering behavior under lateral wind disturbance using natural wind on real road Hitoshi Soma (Japan Automobile Research Institute)

Dynamics of drivers' steering behavior under lateral wind disturbance using natural wind on real road Hitoshi Soma (Japan Automobile Research Institute)

Dynamics of driver's steering behavior under lateral wind disturbance

Dynamics of driver's steering behavior under lateral wind disturbance