The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. ...The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.展开更多
The operating principle of an antilock braking system （ABS） is it compares current value of angular acceleration with the threshold value. The advantage of such system is that enough it has only the angular velocity...The operating principle of an antilock braking system （ABS） is it compares current value of angular acceleration with the threshold value. The advantage of such system is that enough it has only the angular velocity sensors. The disadvantage is successive overshoot, i. e. successive transition from wheels locking mode to wheels rolling mode. So braking mechanism can’ t realize the maximum possible torque in the current road conditions. The idea of increasing the braking effectiveness is the intensity of rising pressure depends on the road conditions. The problem is the torque produced by braking mechanism, current road conditions and the value of traction coefficient is unknown For evaluation of these parameters built and training three neural networks. A simulator of random road condition＇s variation was built to test adequacy of the control unites operation in close to real conditions.展开更多
文摘The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.
文摘The operating principle of an antilock braking system （ABS） is it compares current value of angular acceleration with the threshold value. The advantage of such system is that enough it has only the angular velocity sensors. The disadvantage is successive overshoot, i. e. successive transition from wheels locking mode to wheels rolling mode. So braking mechanism can’ t realize the maximum possible torque in the current road conditions. The idea of increasing the braking effectiveness is the intensity of rising pressure depends on the road conditions. The problem is the torque produced by braking mechanism, current road conditions and the value of traction coefficient is unknown For evaluation of these parameters built and training three neural networks. A simulator of random road condition＇s variation was built to test adequacy of the control unites operation in close to real conditions.
