Vehicle Dynamics Control Research Articles

Hierarchical Control of Connected Vehicle Platoon by Simultaneously Considering the Vehicle Kinematics and Dynamics

This article develops a hierarchical control strategy for connected vehicle (CV) platoon. To this end, the article first characterizes the communication connectivity between CVs using the predecessor-leader following (PLF) topology. Then, a hierarchical control strategy, consisting of first-level and second-level controllers, is proposed by simultaneously considering the vehicle kinematics and dynamics. In particular, the vehicle kinematic model-based controller is proposed in first-level by incorporating the nonlinear coupling and interaction between the CVs and the heterogeneous communication delays; and the vehicle dynamic model-based adaptive integral sliding-mode controller is designed in second-level according to the vehicle desired states obtained by the first-level controller and external disturbance. In addition, the delay-dependent convergence of the first-level controller and finite-time tracking of the second-level controller are rigorously analyzed, respectively. Further, the infinity-norm method is used to investigate the string stability. Eventually, the performance of the developed hierarchical control strategy is verified by extensive simulations, co-simulations and compared with existing methods.

Dynamic Modeling and Stability Control Strategy of Integrated Energy System in Multi-Time Scales

Dynamic Modeling and Stability Control Strategy of Integrated Energy System in Multi-Time Scales

Lane numbers and their impact on commercial motor vehicle crash safety: An econometric perspective

This research investigates the intricate relationship between the number of lanes on highways and injury severities sustained by commercial motor vehicle (CMV) drivers. Many studies have addressed crash determinants, but the safety implications of differing numbers of lanes remain insufficiently examined, especially during the highway planning stages. Our study fills this knowledge gap by analyzing injury severity crash factors for a varied number of lane scenarios. Employing a random parameters logit modeling framework, we differentiated injury levels for 2–4 lanes and 6–10 lanes. Key factors were identified for each number of lanes, with older, loss of vehicle control, non-collision crashes, and crashes on locations where grade or hill existed being more perilous and increasing the risk of sustaining severe injuries on 2-lane highways. For 4-lane highways, factors such as non-Oregonian drivers, older drivers, crashes that occurred during the spring season, and crashes that occurred beyond shoulders were associated with an elevated probability of being involved in severe injury crashes. Regarding highways with 6 lanes and higher, driving too fast for conditions and driver error (drowsy, fatigued, inattentive, or reckless) increases the odds of being involved in higher levels of injury crashes. To enhance truck driver safety, we recommend the implementation of electronic stability control in CMVs, moderated speeds on graded sections, improved curve markers, and robust public safety campaigns.

On Nonlinear Model Predictive Vehicle Dynamics Control for Multi-Actuated Car-Semitrailer Configurations

On Nonlinear Model Predictive Vehicle Dynamics Control for Multi-Actuated Car-Semitrailer Configurations

Adaptive coordinated control strategy for autonomous vehicles based on four-wheel steering

To address the challenges of coordinating path tracking, maneuverability, and stability control in real-time during actual driving of autonomous vehicles, this paper proposes an adaptive coordinated control strategy for four-wheel steering and four-wheel drive autonomous vehicles based on the model predictive control algorithm. First, an approach utilizing a recursive least square method with an adaptive forgetting factor is proposed to estimate and update the cornering stiffness of the prediction model in real-time, aiming to enhance the control accuracy of the controller. Second, the phase plane method is employed to divide the vehicle stability domain, incorporating indicators based on maneuverability and lateral stability to facilitate effective vehicle stability control. Next, the control priority is designed, and the weight of the objective function is adaptively adjusted to achieve the overall coordination between path tracking and handling stability control. Finally, co-simulation of Carsim and MATLAB/Simulink demonstrates that under high-speed and large curvature conditions, the proposed control strategy can further enhance the overall performance of the vehicle. On high-adhesion roads, compared to the general fixed weight strategies, the proposed control strategy has improved path tracking accuracy by 50.57% and 18.41%, respectively. Additionally, on low-adhesion roads, the proposed control strategy still maintains precise trajectory control, with path tracking accuracy improvements of 47.04% and 5.8%, while further enhancing the vehicle’s maneuverability and stability.

Development of the Construction of City Buses in Terms of Reducing the Curb Weight of the Vehicle

Modern city buses are made of various construction materials and the share of material groups has changed over the decades. By replacing heavy materials for structural elements or bus components with their lighter counterparts, the kerb weight of the bus can be reduced by up to several hundred kilograms. This article presents the issues of the development of city bus design in terms of passenger space comfort and bus structure in the context of reducing the vehicle's own weight since the 1970s. The main changes in vehicle design allowing for reducing the weight of structural elements of bodies and chassis as well as the main assemblies in city buses are presented as well as research on body types in terms of aerodynamics, safety and travel comfort. It has been shown that reducing the weight of the bus does not negatively affect its load capacity and the new bus designs are equipped with safety and comfort systems, including ABS (Anti-lock Braking System), ASR (Automatic Stability Regulation), ESP (Electronic Stability Program) and air conditioning in the passenger space. Thanks to modern light construction materials, we gain the opportunity to improve safety and comfort without losing the transport capabilities developed as a result of the development of city buses over the years.

The effects of Electronic Stability Control (ESC) on fatal crash rates in the United States

Problem: Electronic Stability Control (ESC) is believed to be among the most efficient vehicle safety interventions with reported effects around 50% for fatal single and rollover crashes. However, such estimates have used sample data, which have not controlled for the possibilities of self-selection, behavioral adaptation, increased access to the technology by less safe drivers, and the calculation of effects on very specific categories of crashes. Effects of ESC in the population can therefore be expected to be smaller than is currently believed. Method: National U.S. data for fatal crashes, driving exposure and other control factors, and market penetration of ESC over 1991–2021 were used to calculate whether the trends in fatalities over time in crash rates for singles, rollovers, and fatal crashes in general matched projections from estimates of effectiveness. Results: It was found that downward trends in the relevant crash types were generally present before ESC was introduced, and that the trends thereafter were weaker. Although some trends were consistent with effects of ESC, they were markedly smaller than the projected ones, and could be explained by other factors such as the number of vehicles per capita. At best, the effect for rollovers could be up to two-thirds of previous estimates, no effect was detected for singles, while for all fatal crashes results depended upon the type of analysis performed. These results conflict with conclusions in all published ESC crash sample studies, which have compared vehicles with and without ESC. This discrepancy can be explained by methodological errors in the previous studies using induced exposure methods and self-selected samples. Practical applications: Traffic safety may not be as much improved by technological interventions as believed. Alternative approaches to traffic safety are needed, which do not rely on technology that interferes with driver behavior.

Vehicle Lateral Control Based on Dynamic Boundary of Phase Plane Based on Tire Characteristics

Lateral control is an essential safety control technology for autonomous vehicles, but the effectiveness of lateral control technology relies heavily on the precision of vehicle motion state judgements. In order to achieve accurate judgements of the vehicle motion state and to improve the control effectiveness of vehicle maneuverability and the stability controller, this paper starts with an analysis of phase plane stability. A simulation analysis is conducted to investigate the effect of the vehicle steering angle of the front wheels, the longitudinal velocity, and the tire–road adhesion coefficient on the boundary of the stability area. The stable area of the phase plane was partitioned using the proposed novel quadrilateral method, and we established a stability area regression model using machine learning methods. We analyzed the inherent connection between the lateral tire forces and the principles of vehicle maneuverability and stability control, indirectly combining the characteristics of tire forces with vehicle maneuverability and stability control. An allocation algorithm for maneuverability and stability control was designed. A co-simulation indicates that the vehicle stability controller not only accurately assesses the motion state of the vehicle but also demonstrates a considerably better performance in maneuverability and stability control compared to a controller using the traditional partitioning method of stable regions. The suggested allocation method enhances vehicle maneuverability and stability by enabling a seamless transition between the two and improving the effectiveness of stability control.

Fault-Tolerant Vehicle Stability Control Based on Active Steering and Direct Yaw Moment With Finite-Time Constraint Performance Recovery

Fault-Tolerant Vehicle Stability Control Based on Active Steering and Direct Yaw Moment With Finite-Time Constraint Performance Recovery

Post-Impact Stabilization during Lane Change Maneuver

This study addresses challenges in vehicle collisions, especially in non-front or non-rear impacts, causing rapid state changes and a loss of control. Electronic Stability Control (ESC) can stabilize a vehicle in minor impact cases, but it cannot effectively handle major collision cases. To overcome this, our research focuses on Post-Impact Stabilization Control (PISC). Existing PISC methods face issues like misidentifying collisions during cornering maneuvers due to assumptions of straight driving, rendering them ineffective for lane change accidents. Our study aims to design PISC specifically for cornering and lane change maneuvers, predicting collision forces solely from the ego vehicle’s data, ensuring improved collision stability control. We employ the unscented Kalman filter to estimate collision forces and develop a sliding mode controller with an optimal force allocation algorithm to counter the disturbances caused by collisions and stabilize the vehicle. Rigorous validation through simulations and tests with a driving simulator demonstrates the feasibility of our proposed methodology in effectively stabilizing vehicles during collision accidents, particularly in lane change situations.

Slope-climbing coordinated control strategy of trajectory tracking and stability regulation for tractor-trailer trucks

This paper proposes a coordinated control strategy according to the slope-climbing maneuver for autonomous tractor-trailer trucks, with considering tracking accuracy and underactuated trailer stability. First of all, a slope-deconstruction method is adopted to establish a coupled slope-climbing dynamics and trailer articulation model, to investigate motion characteristics and mechanical properties in the target operating condition. After that, a stability assessment is presented on the stable domain of articulation states to determine the underactuated stability. Furthermore, a hierarchical coordinated strategy can be consequently constructed to guarantee the vehicle stability during slope-climbing tracking. Specifically, feedforward model predictive control (MPC) is designed to compensate for system errors in coupled nonlinear dynamics for improved tracking performance. Besides, a robust H∞ is also introduced to govern articulation stability with coordinated braking regulation. At last, co-simulation analysis will be carried out to verify the feasibility and effectiveness of the control strategy, where the practical application adjustment has been discussed to satisfy the driving operation as well.

An optimization approach to extend control period for dynamics control of Autonomous Underwater Vehicles with X-form rudders

This paper addresses the challenge of dynamics control with a long control period for an Autonomous Underwater Vehicle (AUV) equipped with four independent stern control planes. The goal is to minimize frequent actuator operations. To tackle the difficulties posed by the extended control period, the paper proposes a hierarchy controller architecture comprising high-level dynamics control and low-level control allocation. The dynamics controller is developed using the Nonlinear Model Predictive Control (NMPC) technique. It aims to generate optimal virtual steering moments while considering the differences in the periods of model updating, state prediction, and control output. Additionally, a constrained optimization problem is formulated for control allocation, taking into account the characteristics of the control planes. To validate the proposed approach, a test AUV is designed for experimental validation. The hydrodynamic parameters required for state prediction are identified through Computational Fluid Dynamics (CFD) analysis and verified by comparing characteristic indexes from maneuvering trials. Comparison with the Linear Quadratic Regulator (LQR) in dynamics control highlights that the proposed control methods offer a stable and effective control framework, particularly when dealing with a long control period.

Simulation and analysis of stability of UAV control system based on PID control under different wind forces

The four-rotor UAV has attracted the attention of various fields and has been applied in more areas due to its advantages of low cost, high reliability and simple structure. Nowadays, more complex environment and interference factors put forward higher requirements for the accuracy and stability of the flight control system of UAV. At present, the most widely used four-rotor UAV flight control system is PID control system. This paper constructs a UAV control system based on PID algorithm to analyse and study the dynamic stability control effect of UAV under different wind impact scenarios. MATLAB is used to simulate and analyze the system, and the future development is expected according to the simulation results.

Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads

This paper presents a comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low-friction roads. Generally, a path-tracking controller designed on high-friction roads cannot provide good performance under low-friction conditions. To cope with the problem, a coordinated control between path tracking and vehicle stability has been proposed to date. In this paper, three types of coordinated controllers are classified according to the controller structure. As an actuator, front-wheel steering, four-wheel steering, and four-wheel independent braking and driving are adopted. A common feature of these types of controllers is that front steering and yaw moment control are adopted as control inputs. To convert the yaw moment control into tire forces generated by combinations of multiple actuators, a control allocation method is applied. For each type, a controller is designed and simulated using vehicle simulation software. From the simulation results, a performance comparison among those controller types is carried out. Through comparison, it is shown that there are small differences among those types of controllers in terms of path tracking.

Dynamic Gait Stability and Spatiotemporal Gait Parameters During Overground Walking in Professional Ballet Dancers.

Introduction: It has been recognized that practicing ballet could strengthen the leg muscles, improve balance, and reduce fall risk. However, few studies have investigated how ballet practice alters a person's gait pattern, and this knowledge gap could present a barrier to designing ballet-based training programs. This study examined dynamic gait stability and spatiotemporal gait parameters among professional ballet dancers during normal level overground walking. Methods: Twenty young adults were recruited: 10 ballet dancers (24.5 ± 4.9 years) and 10 age- and sex-matched non-dancers (22.6 ± 3.4 years). Participants walked on a 10 m linear walkway at their self-selected speed. Dynamic gait stability and common gait parameters (step length, step width, gait speed, and cadence) were determined from the collected kinematic data and compared between groups with a significance level of .05. Results: The results showed that both groups displayed comparable dynamic gait stability at touchdown (P = .140) and liftoff (P = .638). However, ballet dancers walked with a longer (P = .054), narrower (P = .009), and faster step (P = .014) at a marginally quicker speed (P = .063) than non-dancers. Conclusion: Our study suggests that young professional ballet dancers have different gait patterns, but similar dynamic gait stability compared to non-dancers. These findings not only provide insight into the mechanisms of dynamic stability control among young ballet dancers during gait but expand our understanding of the control of dynamic gait balance of human locomotion across a wide variety of populations and walking conditions.

Design and analysis of coil spring suspension system using N4518 grade flux levitation for motor bikes

Riding comfort is of paramount importance when designing a suspension system considering vehicle dynamics & stability control. Generally, two-wheelers use springs, hydraulic and pneumatic-type damping mechanisms. The present work was a neoteric magnetic suspension system for two-wheelers that use both magnetic and spring cushioning effects to provide comfort to the rider. In this work, two Neodymium ferromagnetic materials were fixed inside the shock absorber cylinders facing same pole each other. The repulsive magnetic flux they produce when come closer due to shocking load was utilized as media for dampening the shock. The combination of permanent magnet with coiled spring has been utilized to enhance the cushioning effect against the shock transmitted due to acceleration on an uneven road condition. The designed suspension system was more efficient over other type of suspension systems, absorbs a greater number of shocks with high accuracy and had no leakage problem unlike in hydraulic and pneumatic system. The design was validated using 3D modelling and Ansys simulation. The beneficial software validation made the design tentative to work efficiently with less maintenance cost.

Vehicle Sideslip Angle Estimation Based on Radial Basis Neural Network and Unscented Kalman Filter Algorithm

Most existing ESC (electronic stability control) and ADS (auto drive system) stability controls rely on the measurement of yaw rate and sideslip angle. However, the existing sensors are too expensive, which is one of the factors that makes it difficult to measure the side slip angle of vehicles directly. Therefore, the estimation of sideslip angle has been extensively discussed in the relevant literature. Accurate modeling is complicated by the fact that vehicles are highly nonlinear. This article combines a radial basis function neural network with an unscented Kalman filter to propose a new sideslip angle estimation method for controlling the dynamic behavior of vehicles. Considering the influence of input data type and sensor ease of measurement factors on the results, a two-degrees-of-freedom vehicle nonlinear dynamic model was established, and a radial basis function neural network estimation algorithm was designed. In order to reduce the impact of noise and improve the reliability of the algorithm, the neural network algorithm was combined with the Kalman filter. The information collected from low-cost sensors for actual vehicle operation (longitudinal vehicle speed, steering wheel angle, yaw rate, lateral acceleration) was trained using a radial basis function neural network to obtain a “pseudo slip angle”. The “pseudo slip angle”, yaw rate, and lateral acceleration are input as observations of the Kalman filter. The sideslip angle obtained from different observation methods was compared with the values provided by the Carsim 2020. The experiment shows that the sideslip angle estimator based on the radial basis function neural network and unscented Kalman filter achieves the optimal effect.

Dynamic Testing of In-Wheel Motor Based Electric Vehicle in Longitudinal Direction

This paper presents an investigation into the performance of in-wheel motor (IWM) based electric vehicles (IWM-EV) in the longitudinal direction. The design of IWM-EV is an innovation of the conventional go-kart vehicle with slightly modifications in steering, suspension, and braking system, which then makes use three-phase permanent magnet synchronous in-wheel motor (PMSM-IWM) at both of the rear axle wheels. An extension of that is a simulation of IWM-EV vehicle using a 5-degree-of-freedom vehicle longitudinal model that has been developed by incorporating PMSM-IWM as a drive wheel located at the rear axles. Using the simulation, vehicle dynamic control in the longitudinal direction-based Proportional-Integral-Derivative (PID) controller has also been strategized. As the intention to confirm the capability of the IWM-EV, experimental studies-based real IWM-EV hardware have been conducted. Three dynamic tests that generalized from SAE standard SAE J866-199908, namely acceleration performance at the level pavement (include acceleration tests and acceleration then braking tests) and road gradient tests at constant speeds of 10, 15 and 20 km/h, were used as the testing method. The performance areas evaluated were vehicle body speed, wheel speed, distance travel experienced by the vehicle, IWMs current, drive torque as well as the battery voltage capacity used by the vehicle. The finding indicate that the simulation results and experimental data are similar with less than 5 % error. The outcomes from this study will be considered in the design optimization of a torque vectoring control in the next research study.

An analysis of the application of mechatronics in the modern automotive field

Nowadays, mechatronics technology is more and more widely used in the automotive field, and the author starts from this point to analyze the development in this field of China. By enumerating concrete examples of the application of electromechanical integration technology in the automotive field, the paper analyzes and summarizes the direction of developing electromechanical integration technology in the current automotive field based on existing literature and data, so as to make a contrast with our countrys low level of electromechanical integration technology, and puts forward several suggestions on the application of electromechanical integration technology in the automotive field. The results show that the application of mechatronics in the modern automobile field is mainly in automatic fuel filling system, car attitude control, ABS anti-lock system, electronic stability program, racing car design and so on, concluding that progress should be made in the fields of enterprise reform, innovation, and specialty setting.

Experience influences kinematic motor synergies: an Uncontrolled manifold approach to simulated Nordic skiing

ABSTRACT Motor synergies are defined as central nervous system mechanisms which adjust participating degrees of freedom to ensure dynamic stability (control) of certain performance variables and have been identified during many motor tasks. The potential for synergistic control of individual segments during full-body tasks is often overlooked. Thus, this study compared individual differences in the potential stabilization of multiple performance variables on the basis of experience during a full-body sport activity. Normalized time series of synergy indices from Uncontrolled Manifold analyses on experienced (n = 9) and inexperienced (n = 19) participants were analysed using statistical parametric mapping during simulated Nordic skiing. Regardless of experience, hand, upper arm, and whole-body centre of mass (COM) kinematics were found to be stabilized by kinematic motor synergies. Only experienced Nordic skiers stabilized trunk COM position at all, while trunk COM velocity was stabilized for a longer duration than inexperienced participants. However, inexperienced participants stabilized hand velocity for a greater duration overall and to a greater magnitude during early pull phase than the experienced skiers. That motor synergies for hand and trunk COM velocity differed between experience groups suggests potential utility for these performance variables as indicators of motor skill development for full-body tasks such as Nordic skiing.