Journal articles: 'Lateral car control'

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Zhou, Shu Wen, Si Qi Zhang, and Guang Yao Zhao. "Study on High-Speed Lateral Stability of Car-Trailer Combination." Applied Mechanics and Materials 29-32 (August 2010): 1420–24. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.1420.

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Since the handling behaviour of car-trailer combination is more complex and less predictable than that of non-articulated vehicles, the drivers may lose control of the vehicle in some hasty steering maneuvers. The kinematics of car-trailer combination has been analyzed with a 3 DOF model. A modified Vehicle Dynamics Control system was designed to improve the lateral stability of the trailer. The dynamics simulation for lateral stability of car-trailer combination has been performed on the multi-body model. The results show that the lateral stability of car-trailer combination, including yaw rate and roll angle has been improved with the modified Vehicle Dynamics Control system.

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You, S. S., and H. S. Kim. "Lateral dynamics and robust control synthesis for automated car steering." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 215, no. 1 (January 2001): 31–43. http://dx.doi.org/10.1243/0954407011525449.

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Nieminen, Tapio, and Heikki Summala. "Novice and Experienced Drivers' Looking Behavior and Primary Task Control While Doing a Secondary Task." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 38, no. 14 (October 1994): 852–56. http://dx.doi.org/10.1177/154193129403801412.

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This study is addressed to time-sharing and primary task control during a secondary task as a function of driving experience. After about 1.5 h of test driving, when well-adapted to the experimental car, 23 novices (less than 5,000 km of driving) and 26 experienced drivers (more than 150,000 km) were asked to change a cassette in a cassette player on an ordinary two-lane road. The task was replicated three times. The results showed no difference between novice and experienced drivers in time-sharing (glance length at the in-car task and at the road), lateral position-keeping (lateral displacement as a function of time at in-car task) or control in relation to oncoming traffic. The only difference occurred in speed control, experienced drivers keeping their speed level constant while novices slowed down somewhat during the secondary task. These data showed, in a supervised experimental setting, a similar linear relationship between time spent on an in-car task and lateral displacement both for novice and experienced drivers, and a similar median time gap of about 2 s to an oncoming vehicle at the moment when both novice and experienced drivers shifted their gaze from the in-car task to the road.

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Cui, Sheng Min, Chao Zhang, Jian Feng Wang, and Kun Zhang. "Research on Path Tracking Control for Vision Based Intelligent Vehicle." Applied Mechanics and Materials 63-64 (June 2011): 305–8. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.305.

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This paper proposes an optimal control method to achieve the path tracking mission for the vision based intelligent vehicle. After the access of road trajectory, path tracking task is achieved by the intelligent vehicle automatic steering devices. The angle deviation and lateral deviation relative to the target path can be controlled in the smaller range by state feedback optimal control. A car model contained road information is established for the achievement of intelligent vehicle path tracking and automatic steering. Some values of the variables needed for the control system are obtained by sensors mounted on the car, and achieve the path tracking by the optimal state feedback controller. The algorithm proposed has been validated by simulations. It can make the lateral deviation within the expected range stability. And also the lateral acceleration meets the ride comfort requirements.

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Vörös, Illés, László Turányi, Balázs Várszegi, and Dénes Takács. "Small-scale Experimental Test Rig for Lateral Vehicle Control." Periodica Polytechnica Mechanical Engineering 65, no. 2 (March 9, 2021): 163–70. http://dx.doi.org/10.3311/ppme.17269.

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This paper presents the design and implementation of a small-scale hardware-in-the-loop test environment for lateral vehicle dynamics controllers. The test rig consists of a conveyor belt and a 1:10 scale model vehicle. The vehicle is anchored to the frame of the conveyor belt using a special fixture, which constrains only the longitudinal displacement of the car. Therefore, the longitudinal velocity of the vehicle is provided by the conveyor belt, while the steering is generated by the computational unit, where various control methods can be implemented. The test rig is equipped with sensors that provide accurate measurements of the position and orientation of the car, which can be used as feedback in the control algorithms. The paper includes a case study, where the analytical stability analysis of a lane-keeping controller is verified with experiments on the test rig. The proposed test environment provides a compact, cost effective and versatile framework for the testing of various steering control methods in a running vehicle, while maintaining the benefits of a controlled laboratory environment. The experimental setup can also be used for educational and demonstrational purposes.

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Saleh, Louay, Philippe Chevrel, and Jean-François Lafay. "Generalized H2-Preview Control and its Application to Car Lateral Steering." IFAC Proceedings Volumes 43, no. 2 (2010): 132–37. http://dx.doi.org/10.3182/20100607-3-cz-4010.00025.

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Navarro, J., F. Mars, and M. S. Young. "Lateral control assistance in car driving: classification, review and future prospects." IET Intelligent Transport Systems 5, no. 3 (2011): 207. http://dx.doi.org/10.1049/iet-its.2010.0087.

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Li, Gang, Sucai Zhang, Lei Liu, Xubin Zhang, and Yuming Yin. "Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method." Complexity 2021 (April 29, 2021): 1–16. http://dx.doi.org/10.1155/2021/5549776.

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To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%.

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Tabti, Khatir, Mohamend Bourahla, and Lotfi Mostefai. "Hybrid Control of Electric Vehicle Lateral Dynamics Stabilization." Journal of Electrical Engineering 64, no. 1 (January 1, 2013): 50–54. http://dx.doi.org/10.2478/jee-2013-0007.

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This paper presents a novel method for motion control applied to driver stability system of an electric vehicle with independently driven wheels. By formulating the vehicle dynamics using an approximating the tire-force characteristics into piecewise affine functions, the vehicle dynamics cen be described as a linear hybrid dynamical system to design a hybrid model predictive controller. This controller is expected to make the yaw rate follow the reference ensuring the safety of the car passengers. The vehicle speed is estimated using a multi-sensor data fusion method. Simulation results in Matlab/Simulink have shown that the proposed control scheme takes advantages of electric vehicle and enhances the vehicle stability.

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ElMaraghy, W. H., and R. V. Dukkipati. "LATERAL STABILITY ANALYSIS OF A RAILWAY TRUCK ON ROLLER RIG." Transactions of the Canadian Society for Mechanical Engineering 21, no. 3 (September 1997): 317–26. http://dx.doi.org/10.1139/tcsme-1997-0015.

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Generic linear models were developed of a freight car (with a characteristic North American three-piece truck) on tangent track. The models were developed using the generalized multi-body dynamics software MEDYNA. Predictions were made of the theoretical linear model hunting (lateral stability) characteristics of the freight car, i.e., the critical speeds and frequencies, for five different configurations: (a) freight car on track, (b) the freight car’s front truck on the roller stand and its rear truck on track, (c) freight car on the roller rig, (d) a single truck on track and (e) single truck on the roller stand. These were compared with the Association of American Railroads’ field test data for an 80-ton hopper car equipped with A-3 ride control trucks. Agreement was reached among all the analytical models, with all models indicating a range of hunting speeds of 2% from the highest to lowest. The largest discrepancy, approximately 8%, was indicated between the models and the field test data.

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Stribersky, A., H. Müller, and B. Rath. "The development of an integrated suspension control technology for passenger trains." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 212, no. 1 (January 1, 1998): 33–42. http://dx.doi.org/10.1243/0954409981530661.

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In recent years there has been a growing demand for electronically controlled suspensions in rail vehicles. Active car body tilting as well as active or semi-active suspension control have been implemented successfully by industry. This paper describes the development of a suspension control technology which integrates active tilting, active lateral positioning and semi-active damping of a rail vehicle's car body. The focus is on computer simulation as well as on hardware development.

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Stolfa, Svatopluk, Jakub Stolfa, Petr Simonik, Tomas Mrovec, and Tomas Harach. "Safety Design Strategies in Highly Autonomous Drive Level 2 – Lateral Control Decomposition Concept." JUCS - Journal of Universal Computer Science 27, no. 8 (August 28, 2021): 811–29. http://dx.doi.org/10.3897/jucs.72314.

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The paper is based on an experimental study at VSB TUO Ostrava with a DEMOCAR vehicle that simulates a real car with sensor fusion concept and a vehicle gateway to send and coordinate commands to ECUs to realize and manage autonomous driving. In this experimental study of autonomous driving vehicles control, a HARA (Hazard and Risk Analysis, ISO 26262:2018) has been done on vehicle level and strategies have been defined and implemented to manage safety situations where the car lateral control shall be hand over to a driver when in HAD 2 mode. The issue is that the switching to safe state shall not be done immediately but the vehicle has to stay in safe driving mode – fail-operational up to 4 seconds until a driver can take over. The UECE and other relevant studies show that it can take up to 6 seconds if driver/operator is not in the flow (HAD 3) and up to the 2 seconds when driver is in the flow (HAD 1). The paper makes assumptions and proposals about vehicle lateral control strategy to ensure the smooth take- over of the car by driver and its impact on control software development architectures.

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Zhao, Jian Zhu, Lu Zhang, Guo Ye Wang, Yan Chen, and Zhong Fu Zhang. "Safe Test System for the Turning Vehicles ESP Control Performances on the Lateral Restricted Vehicle System." Advanced Materials Research 694-697 (May 2013): 1334–39. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1334.

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Project the lateral restricted vehicle system to establish a safe and efficient vehicle driving stability control test system. Aimed at Chery A3 car, based on Matlab/Simulink, establish the lateral restricted vehicle dynamic simulation system. Used the braking and driving integrated ESP control strategy, separately analyze the ESP control performances of the independent vehicle system and the lateral restricted vehicle system on three test conditions including neutral steering, under steering, over steering. The research results indicate that the ESP control performances of the lateral restricted vehicle system and the independent vehicle system have great uniformity on the three test conditions, provide a basis for the vehicle driving stability control test research.

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Dal Bianco, Nicola, Roberto Lot, and Marco Gadola. "Minimum time optimal control simulation of a GP2 race car." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 232, no. 9 (October 9, 2017): 1180–95. http://dx.doi.org/10.1177/0954407017728158.

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In this work, optimal control theory is applied to minimum lap time simulation of a GP2 car, using a multibody car model with enhanced load transfer dynamics. The mathematical multibody model is formulated with use of the symbolic algebra software MBSymba and it comprises 14 degrees of freedom, including full chassis motion, suspension travels and wheel spins. The kinematics of the suspension is exhaustively analysed and the impact of tyre longitudinal and lateral forces in determining vehicle trim is demonstrated. An indirect optimal control method is then used to solve the minimum lap time problem. Simulation outcomes are compared with experimental data acquired during a qualifying lap at Montmeló circuit (Barcelona) in the 2012 GP2 season. Results demonstrate the reliability of the model, suggesting it can be used to optimise car settings (such as gearing and aerodynamic setup) before executing track tests.

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Hoc, Jean-Michel, Franck Mars, Isabelle Milleville-Pennel, Élise Jolly, Mariana Netto, and Jean-Marc Blosseville. "Human-machine cooperation in car driving for lateral safety : delegation and mutual control." Le travail humain 69, no. 2 (2006): 153. http://dx.doi.org/10.3917/th.692.0153.

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16

Zwahlen, Helmut T., and David P. DeBald. "Safety Aspects of Sophisticated In-Vehicle Information Displays and Controls." Proceedings of the Human Factors Society Annual Meeting 30, no. 3 (September 1986): 256–60. http://dx.doi.org/10.1177/154193128603000313.

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Two groups of six young and healthy subjects were used in this study to investigate the lateral path deviations when driving in a straight path with the eyes fixated on the road ahead, when driving while reading information inside of the automobile, and when driving with the eyes closed. Each group of subjects drove a typical large car and a typical small car at a fixed speed of 30 mph. An unused 2000 foot long and 75 foot wide, level, concrete airport runway was used to conduct the experiment. Each subject made three runs under each of the three conditions with the large car and with the small car (18 runs total). The lateral path deviations from the longitudinal centerline of the car to the centerline of the runway were measured every 15 feet for a distance of 705 feet. A device which dripped liquid dye was attached to the center of the rear bumper of the automobiles to indicate their paths. The results of this study show that the average lateral standard deviations for driving with the eyes fixated upon the road ahead were between 5.5″ and 11.3″. The difference in the lateral standard deviations for large and small automobiles was statistically not significant for distances between 100 and 500 feet from the starting point for the three conditions tested. The lateral standard deviation was smaller for reading text within the automobile than for driving with the eyes closed, and was statistically significant after an occlusion distance of 225 feet or an occlusion time of about 5 seconds. Using a constant of 0.041, the fundamental relationship between the lateral standard deviation, the speed, and the occlusion distance developed by Zwahlen and Balasubramanian (1974) fits the data for reading text inside of the automobile while driving fairly well. This constant is approximately one half of that which has been used for driving with the eyes closed (0.076) in this study. Based upon the results of this study, the development and introduction of sophisticated in-vehicle displays and/or touch panels should be halted and their safety aspects with regard to information aquisition, information processing, and driver control actions should be critically evaluated.

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Chen, Huan Ming. "Driver Model Based on Controller with Open and Close Loop." Advanced Materials Research 889-890 (February 2014): 958–61. http://dx.doi.org/10.4028/www.scientific.net/amr.889-890.958.

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It is very important to simulate driver's manipulation for people - car - road closed loop simulation system. In this paper, the driver model is divided into two parts, linear vehicle model is used to simulate the driver's driving experience, and closed-loop feedback is used to characterize the driver's emergency feedback. The lateral acceleration of vehicle is used as feedback in closed loop control. Simulation results show that the smaller lateral acceleration requires the less closed-loop feedback control. The driver model can accurately track the target path, which can be used to simulate the manipulation of the driver. The driver model can be used for people - car - road closed loop simulation to evaluate vehicle handling stability.

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Vignati, Michele, Edoardo Sabbioni, and Federico Cheli. "A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting." Electronics 7, no. 12 (December 5, 2018): 394. http://dx.doi.org/10.3390/electronics7120394.

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When dealing with electric vehicles, different powertrain layouts can be exploited. Among them, the most interesting one in terms of vehicle lateral dynamics is represented by the one with independent electric motors: two or four electric motors. This allows torque-vectoring control strategies to be applied for increasing vehicle lateral performance and stability. In this paper, a novel control strategy based on torque-vectoring is used to design a drifting control that helps the driver in controlling the vehicle in such a condition. Drift is a particular cornering condition in which high values of sideslip angle are obtained and maintained during the turn. The controller is applied to a rear-wheel drive race car prototype with two independent electric motors on the rear axle. The controller relies only on lateral acceleration, yaw rate, and vehicle speed measurement. This makes it independent from state estimators, which can affect its performance and robustness.

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Zhang, Dezhao, Keqiang Li, and Jianqiang Wang. "A curving ACC system with coordination control of longitudinal car-following and lateral stability." Vehicle System Dynamics 50, no. 7 (July 2012): 1085–102. http://dx.doi.org/10.1080/00423114.2012.656654.

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Vempaty, Smitha, Yuping He, and Lin Zhao. "An overview of control schemes for improving the lateral stability of car-trailer combinations." International Journal of Vehicle Performance 6, no. 2 (2020): 151. http://dx.doi.org/10.1504/ijvp.2020.10028995.

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Vempaty, Smitha, Yuping He, and Lin Zhao. "An overview of control schemes for improving the lateral stability of car-trailer combinations." International Journal of Vehicle Performance 6, no. 2 (2020): 151. http://dx.doi.org/10.1504/ijvp.2020.106985.

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Bayuwindra, Anggera, Jeroen Ploeg, Erjen Lefeber, and Henk Nijmeijer. "Combined Longitudinal and Lateral Control of Car-Like Vehicle Platooning With Extended Look-Ahead." IEEE Transactions on Control Systems Technology 28, no. 3 (May 2020): 790–803. http://dx.doi.org/10.1109/tcst.2019.2893830.

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Navarro, Jordan, Franck Mars, and Jean-Michel Hoc. "Lateral Control Assistance for Car Drivers: A Comparison of Motor Priming and Warning Systems." Human Factors: The Journal of the Human Factors and Ergonomics Society 49, no. 5 (October 2007): 950–60. http://dx.doi.org/10.1518/001872007x230280.

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Luo, Yu Feng, and Yong Liu. "Research on How to Send Ladder Derived by Linear Electric Motors." Applied Mechanics and Materials 273 (January 2013): 350–54. http://dx.doi.org/10.4028/www.scientific.net/amm.273.350.

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It is expected to raise the elevator at the same time more service efficiency, shorten the passenger ladder time and reasonable deployment of the purpose of the elevator. It puts forward a linear motor driven elevator car assigning algorithm. Combining with the characteristics of the linear motor, it use ALtera company's Cyclone Ⅱ series of EP2C5 chip, through the VHDL programming, has formulated the new structure of the elevator control strategy. This control strategy combining make good avoid mechanism, can realize the new elevator group control the lateral movement, and to better solve car collision between provides new way.

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Yao, Jialing, Zhihong Li, Meng Wang, Feifan Yao, and Zheng Tang. "Automobile active tilt control based on active suspension." Advances in Mechanical Engineering 10, no. 10 (October 2018): 168781401880145. http://dx.doi.org/10.1177/1687814018801456.

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The rolling control of a car that focuses on reducing the roll angle passively has limited performance of increasing handling stability, passing speed, ride comfort, and rollover prevention while turning. This project presents a method for controlling an automobile to tilt toward the turning direction using active suspension. A 6-degree-of-freedom vehicle model with a 2-degree-of-freedom steering model and a 4-degree-of-freedom tilting model is established. The active tilt sliding mode controller, which causes zero steady-state tilt angle error, is established after the desired tilt angle is determined by dynamic analysis. Simulation results confirm the effectiveness of the control method. The proposed controller reduces the perceived lateral acceleration and the lateral load transfer rate, thereby effectively improving handling stability, ride comfort, and vehicle speed, meanwhile decreasing the possibility of rollover while turning.

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Wu, Long. "Research on Mass Partition Coefficient for a Whole Car under Vertical and Lateral Road Excitations." Applied Mechanics and Materials 29-32 (August 2010): 177–82. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.177.

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Consider the imperfectness of mass partition coefficient for a whole car in automotive theories, a vehicle physical model with fourteen degree of freedoms under vertical and lateral road excitations is adopted as research background in this paper. With the help of force analysis of sprung mass in three dimensional space and investigations on vertical, lateral, pitch, roll and yaw motions, the ration relations of dynamical coupling between a whole suspension and four quarter suspensions are deduced and achieved. The analytical results obtained in this paper develop the theoretical content of mass partition coefficient. It will be utilized to analyze, test and control among different car suspensions in the fields of vibration, handling and steering systems in future.

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Jung, H., B. Kwak, and Y. Park. "Improving the directional stability of a traction control system without additional sensors." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 216, no. 8 (August 1, 2002): 641–48. http://dx.doi.org/10.1177/095440700221600802.

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The traction control system (TCS) comprises a slip control subsystem and a directional stability subsystem. The slip controller can enhance the traction performance by maintaining the slip ratio within an appropriate range. Additional information about the lateral behaviour of the vehicle is necessary to enhance the directional stability during cornering or lane change on slippery roads. With an assumption of slowly varying steering input, a new method to measure the mixture of yaw rate and lateral acceleration, using the speed difference of non-driven wheels, is proposed. Using this measurement, the controller imposes independent pressure to each driven wheel and improves the stability during cornering on slippery roads or acceleration on split-μ roads without additional sensors such as yaw rate and lateral acceleration sensors. The proposed method is verified through simulation based on a 15-degrees-of-freedom (15 DOF) passenger car model.

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Ms. Ritika Dhabalia, Ms. Kritika Dhabalia. "An Intelligent Auto-Tracking Vehicle." International Journal of New Practices in Management and Engineering 1, no. 02 (June 30, 2012): 08–13. http://dx.doi.org/10.17762/ijnpme.v1i02.5.

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With gas prices at historic highs and fuel-efficient cars in vogue, the time might be perfect to introduce the Smart Car. The chief goal of this paper is designing a smart car with transportation capabilities of a traditional car. The project introduces ways of making car to sense the environment and navigating on its own. The algorithm is implemented using a freescale’s32-bit MPC5604 microcontroller and CODEWARRIOR (IDE) software. It is based on Free Ranging on Grid Technology (FROG) which uses Automated Guided Vehicle Systems (AGV), which are driverless cars. An AGV is a robotic device that follows marks in the floor. The fundamental requirement for this smart car is to sense the given track in a most efficient and in a considerably very short time. The actuators used for lateral and longitudinal control were a servo and a D.C motor respectively. Thus a model car can be designed with electrical, electronic and mechanical systems and can be travelled in smoother and faster way in the track by electromechanical control. In such automated systems, vehicles are programmed to have various features to ensure smooth car navigation, traffic signal control, cameras to monitor and systems to maintain appropriate speed limits etc. Thus in future, this kind of smart cars acts as an intelligent transport system.

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Žukas, Artūras. "APPLICATION OF COMPUTER PROGRAM CARSIM FOR MODELLING SINGLE AND DOUBLE LANE CHANGE MANOEUVRES / TAIKOMOSIOS PROGRAMOS „CARSIM“ PRITAIKYMAS, MODELIUOJANT VIENGUBĄ IR DVIGUBĄ JUDĖJIMO JUOSTOS PAKEITIMO MANEVRĄ." Mokslas - Lietuvos ateitis 4, no. 4 (November 28, 2012): 397–402. http://dx.doi.org/10.3846/mla.2012.64.

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The paper analyzes the possibilities of using computer aided modelling programs for developing new cars to achieve better dynamical properties of control over vehicles. The article shortly reviews the behaviour of young and experienced drivers and models describing it. The paper covers the process of turning car steering wheel, considers acceptable values of lateral acceleration comfortable for a car driver and all car passengers and presents computer aided modelling program CarSim used for displaying single and double lane change manoeuvres at various speeds on dry asphalt. The given charts, including data about steering wheel angle and lateral acceleration values indicate single and double lane change manoeuvres performed by a car. Also, the values of longitudinal and lateral forces of each wheel during the double lane change manoeuvre are provided. Santrauka Straipsnyje nagrinėjamos kompiuterinių modeliavimo programų pritaikymo galimybės automobilių konstrukcijoms tobulinti, dinaminėms savybėms gerinti. Trumpai minimi vairuotojo elgseną aprašantys mokslininkų jau sukurti modeliai. Aptariamas vairo rato pasukimo procesas, pateikiamos priimtinos vairuotojui ir automobilio keleiviams nesudarančios diskomforto skersinio pagreičio reikšmės. Atliekama trumpa taikomosios kompiuterinio modeliavimo programos „CarSim“ apžvalga. Šia programa atlikti viengubo ir dvigubo judėjimo juostos pakeitimo manevrai, esant skirtingiems automobilio judėjimo greičiams ant sauso asfalto. Pateikti vairo rato pasukimo, skersinių pagreičių reikšmių grafikai. Taip pat pateiktos visus ratus veikiančių išilginių ir skersinių jėgų bei ratų slydimo reikšmės esant 90 km/h greičiui.

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Mecheri, Sami, and Régis Lobjois. "Steering Control in a Low-Cost Driving Simulator: A Case for the Role of Virtual Vehicle Cab." Human Factors: The Journal of the Human Factors and Ergonomics Society 60, no. 5 (April 17, 2018): 719–34. http://dx.doi.org/10.1177/0018720818769253.

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Objective: The aim of this study was to investigate steering control in a low-cost driving simulator with and without a virtual vehicle cab. Background: In low-cost simulators, the lack of a vehicle cab denies driver access to vehicle width, which could affect steering control, insofar as locomotor adjustments are known to be based on action-scaled visual judgments of the environment. Method: Two experiments were conducted in which steering control with and without a virtual vehicle cab was investigated in a within-subject design, using cornering and straight-lane-keeping tasks. Results: Driving around curves without vehicle cab information made drivers deviate more from the lane center toward the inner edge in right (virtual cab = 4 ± 19 cm; no cab = 42 ± 28 cm; at the apex of the curve, p < .001) but not in left curves. More lateral deviation from the lane center toward the edge line was also found in driving without the virtual cab on straight roads (virtual cab = 21 ± 28 cm; no cab = 36 ± 27 cm; p < .001), whereas driving stability and presence ratings were not affected. In both experiments, the greater lateral deviation in the no-cab condition led to significantly more time driving off the lane. Conclusion: The findings strongly suggest that without cab information, participants underestimate the distance to the right edge of the car (in contrast to the left edge) and thus vehicle width. This produces considerable differences in the steering trajectory. Application: Providing a virtual vehicle cab must be encouraged for more effectively capturing drivers’ steering control in low-cost simulators.

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Lombard, Alexandre, Xuguang Hao, Abdeljalil Abbas-Turki, Abdellah El Moudni, Stéphane Galland, and Ansar-Ul-Haque Yasar. "Lateral Control of an Unmaned Car Using GNSS Positionning in the Context of Connected Vehicles." Procedia Computer Science 98 (2016): 148–55. http://dx.doi.org/10.1016/j.procs.2016.09.023.

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Suresh, P., and P. V. Manivannan. "Neural Network Based Hybrid Adaptive Controller for an Autonomously Driving Car Using Thin Plate Spline Radial Basis Activation Function." Applied Mechanics and Materials 592-594 (July 2014): 2184–88. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2184.

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– This paper presents a hybrid lateral and longitudinal controller for a self-driving passenger car. The controller comprises a Proportional Derivative (PD) controller as a closed loop controller and Neural Network (NN) based adaptive compensator as a feed forward controller. The activation function of the NN adaptive stage is based on a poly-harmonic Thin Plate Spline (TPS) Radial Basis Function (RBF), which promises better accuracy, smoother interpolation and closed form solutions. The controller development and testing has been performed using a non-linear vehicle dynamics model, which has been developed using the Matlab / Simulink tool. The Controller performance in terms of vehicle lane following (lateral deviation control) and safe cruising control (longitudinal spacing error control) have been verified through simulations. Reductions of lateral deviation error by 15% and longitudinal spacing error by 7% have been achieved.

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Sharp, R. S. "Driver Steering Control and a New Perspective on Car Handling Qualities." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 219, no. 10 (October 1, 2005): 1041–51. http://dx.doi.org/10.1243/095440605x31896.

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The article is about steering control of cars by drivers, concentrating on following the lateral profile of the roadway, which is presumed visible ahead of the car. It builds on previously published work, in which it was shown how the driver's preview of the roadway can be combined with the linear dynamics of a simple car to yield a problem of discrete-time optimal-linear-control-theory form. In that work, it was shown how an optimal ‘driver’ of a linear car can convert the path preview sample values, modelled as deriving from a Gaussian white-noise process, into steering wheel displacement commands to cause the car to follow the previewed path with an attractive compromise between precision and ease. Recognizing that real roadway excitation is not so rich in high frequencies as white-noise, a low-pass filter is added to the system. The white-noise sample values are filtered before being seen by the driver. Numerical results are used to show that the optimal preview control is unaltered by the inclusion of the low-pass filter, whereas the feedback control is affected diminishingly as the preview increases. Then, using the established theoretical basis, new results are generated to show time-invariant optimal preview controls for cars and drivers with different layouts and priorities. Tight and loose controls, representing different balances between tracking accuracy and control effort, are calculated and illustrated through simulation. A new performance criterion with handling qualities implications is set up, involving the minimization of the preview distance required. The sensitivities of this distance to variations in the car design parameters are calculated. The influence of additional rear wheel steering is studied from the viewpoint of the preview distance required and the form of the optimal preview gain sequence. Path-following simulations are used to illustrate relatively high-authority and relatively low-authority control strategies, showing manoeuvring well in advance of a turn under appropriate circumstances. The results yield new insights into driver steering control behaviour and vehicle design optimization. The article concludes with a discussion of research in progress aimed at a further improved understanding of how drivers control their vehicles.

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Harun, M. H., W. M. Zailimi, Hishamuddin Jamaluddin, R. A. Rahman, and K. Hudha. "Dynamic Response of Commuter Rail Vehicle under Lateral Track Irregularity." Applied Mechanics and Materials 548-549 (April 2014): 948–52. http://dx.doi.org/10.4028/www.scientific.net/amm.548-549.948.

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Lateral track irregularities normally occur when both rail lines have some displacement laterally with respect to the original track due to prolonged exposure to sun’s heat, or may also arise from specific features such as switch and crossing work of track. These track irregularities will cause unwanted body vibration of commuter rail vehicle. These vibrations have to be suppressed for the purpose of ride comfort. This paper presents two control strategies in semi-active suspension systems which are PID and disturbance rejection control to improve passenger ride comfort. A half car model of commuter rail vehicle with three-degree-of-freedom (3-DOF) was developed based on Second Newton's Law. Vibration analyses based on simulation results in time domains are compared with passive system using MATLAB-Simulink software. The results show that the semi-active controllers are able to suppress rail vehicle body responses effectively.

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Sharp, R. S., and D. Pan. "On the Design of an Active Roll Control System for a Luxury Car." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 207, no. 4 (October 1993): 275–84. http://dx.doi.org/10.1243/pime_proc_1993_207_193_02.

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The handling responses of an actively suspended large car to ramp steering wheel inputs are calculated. The car is fitted with rotary actuators in the anti-roll bars at front and rear, operating under displacement control and stimulated by the output from a lateral acceleration sensor, constituting an active roll control system. The study is closely associated with an earlier one and the system model utilized is the same. New results are generated. They show the influences of changing the speed of response of the flow control valve and the sampling frequency of the digital control scheme. More complete energy consumption computations are reported. The results add significantly to those already published. The viability, in terms of performance capabilities, of roll control systems of this nature is confirmed and, taken together with the earlier results, the present work defines more closely the design needs of this type of system.

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Kolb, Julius, Gunter Nitzsche, Sebastian Wagner, and Klaus Röbenack. "On the Backward Path Tracking Control of N-Trailer Systems." SYSTEM THEORY, CONTROL AND COMPUTING JOURNAL 1, no. 1 (June 30, 2021): 13–20. http://dx.doi.org/10.52846/stccj.2021.1.1.6.

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This paper considers the lateral control of articulated wheeled vehicles in backward motion. The parameterized articulated vehicle is composed of a car-like truck and N passive trailers, resulting in one single steerable axle. First a nonlinear path tracking control law based on exact linearization of an offset model is reviewed and the general stability conditions of such systems is presented. Second, a stability analysis for some vehicle cases is performed and verified in simulation. The possible application of this path tracking control law in real world articulated vehicles is discussed, and its limitations are shown.

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Zheng, Ya-Zhou, Peng-Jun Zheng, and Hong-Xia Ge. "An improved car-following model with consideration of the lateral effect and its feedback control research." Chinese Physics B 23, no. 2 (February 2014): 020503. http://dx.doi.org/10.1088/1674-1056/23/2/020503.

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Zhao, Lin, and Yuping He. "An investigation of active safety control strategies for improving the lateral stability of car-trailer systems." International Journal of Vehicle Systems Modelling and Testing 13, no. 4 (2019): 295. http://dx.doi.org/10.1504/ijvsmt.2019.10026614.

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Zhao, Lin, and Yuping He. "An investigation of active safety control strategies for improving the lateral stability of car-trailer systems." International Journal of Vehicle Systems Modelling and Testing 13, no. 4 (2019): 295. http://dx.doi.org/10.1504/ijvsmt.2019.104874.

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You, S.-S., and S.-K. Jeong. "Vehicle dynamics and control synthesis for four-wheel steering passenger cars." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 212, no. 6 (June 1, 1998): 449–61. http://dx.doi.org/10.1243/0954407981526109.

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This paper is concerned with the active robust autopilot design of a four-wheel steering vehicle against external disturbances. Firstly, the effect of four-wheel steering and independent wheel torques for lateral/directional and roll motions is modelled by a set of linear models under proper manoeuvring conditions. To enhance the dynamic performance of an automobile system, a mixed H2/H∞ synthesis with pole constraint is designed on the basis of full state feedback applying linear matrix inequality (LMI) theory. For lateral/directional and roll motions, the steering angles are actively controlled by steering wheel angles through the actuator dynamics. The wheel power and braking are also controlled by independent wheel torques. Simulation results indicate that the proposed control approach can achieve predetermined performance (or acceptable level of disturbance attenuation) and stability as well as robustness even when external disturbances are severe. The active 4WS car along with steering and wheel torque control algorithms allows greater manoeuvrability and improved stability in a wide range of uncertainty.

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Shahar, A., R. Brémond, and C. Villa. "Can light emitting diode-based road studs improve vehicle control in curves at night? A driving simulator study." Lighting Research & Technology 50, no. 2 (July 29, 2016): 266–81. http://dx.doi.org/10.1177/1477153516660146.

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Road delineation treatments enhance the ability of drivers to control their vehicle safely on winding roads. A simulator experiment compared night-time driving on a country road under three conditions: on an unlit road, on a road illuminated on curves by typical road luminaires, and on a road with an active lane delineation application, where self-luminous road studs are turned on to outline the lane and road edges as the driver approaches and passes the curves. The unlit condition induces greater lateral position variability and longer crossovers relative to the studs condition, demonstrating better lateral vehicle control in the latter. The luminaires condition induce greater lateral position variability in left curves, and longer crossovers in right curves, relative to the studs condition, which also demonstrates a better lateral vehicle control in the studs condition. At a subjective level, the participants perceived both the studs condition and the luminaires condition as safer, more comfortable and allowing better control than the unlit road. It was concluded that the tested application enhanced the ability of drivers to control the virtual car, as compared to an unlit road or road lighting.

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Grenčík, Juraj, and Yoshihiro Suda. "Enhanced Curving Performance of Unsymmetric Suspension Trucks with Semiactive Control Concept Even under Acting Traction/Brake Torque." Journal of Robotics and Mechatronics 7, no. 4 (August 20, 1995): 324–28. http://dx.doi.org/10.20965/jrm.1995.p0324.

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In this paper, dynamic behavior of rail vehicles during curve negotiation when traction or brake torque is applied has been studied. Vehicles with conventional symmetric trucks are compared to those with the recently proposed trucks having longitudinally unsymmetric suspension characteristics. Computer simulations using full car body models considering non-linear characteristics of the contact force between wheel and rail are performed. Wheel lateral displacement and wheel attack angle are calculated to describe curving performance under different speed, curve radius, and vehicle load. Under the same curve conditions, wheel lateral displacement is considerably smaller and wheel attack angle is almost zero within wide range of torque, while growing from higher value in case of conventional truck design. Consequently, enhanced curving performance of new unsymmetric trucks even under acting traction/braking torque is proved.

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NAKANO, Hiroshi, Ken OKAYAMA, Jun KINUGAWA, and Kazuhiro KOSUGE. "2A2-I02 Lateral Motion Control of a Vehicle with a Large Sideslip Angle(Car Robotics & ITS)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A2—I02_1—_2A2—I02_2. http://dx.doi.org/10.1299/jsmermd.2014._2a2-i02_1.

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Hady, M. B. A. Abdel, and D. A. Crolla. "Theoretical Analysis of Active Suspension Performance Using a Four-Wheel Vehicle Model." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 203, no. 2 (April 1989): 125–35. http://dx.doi.org/10.1243/pime_proc_1989_203_158_02.

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Techniques for obtaining control laws for an active suspension implemented at all four wheel stations of a vehicle are outlined. It is shown that the classical optimal control law based on full state feedback can be replaced by one that involves limited state feedback—omitting, in particular, the ground input information—and that may involve measurement errors. Performance of this system is almost as good as that of the full state feedback system and is much more attractive in terms of its practical implementation. Previous work, much of which has been based on the quarter car model, is extended so that the performance indices may include body roll, body pitch, seat lateral acceleration and lateral and fore/aft dynamic load transfer.

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Van, Nam Dinh, Muhammad Sualeh, Dohyeong Kim, and Gon-Woo Kim. "A Hierarchical Control System for Autonomous Driving towards Urban Challenges." Applied Sciences 10, no. 10 (May 20, 2020): 3543. http://dx.doi.org/10.3390/app10103543.

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In recent years, the self-driving car technologies have been developed with many successful stories in both academia and industry. The challenge for autonomous vehicles is the requirement of operating accurately and robustly in the urban environment. This paper focuses on how to efficiently solve the hierarchical control system of a self-driving car into practice. This technique is composed of decision making, local path planning and control. An ego vehicle is navigated by global path planning with the aid of a High Definition map. Firstly, we propose the decision making for motion planning by applying a two-stage Finite State Machine to manipulate mission planning and control states. Furthermore, we implement a real-time hybrid A* algorithm with an occupancy grid map to find an efficient route for obstacle avoidance. Secondly, the local path planning is conducted to generate a safe and comfortable trajectory in unstructured scenarios. Herein, we solve an optimization problem with nonlinear constraints to optimize the sum of jerks for a smooth drive. In addition, controllers are designed by using the pure pursuit algorithm and the scheduled feedforward PI controller for lateral and longitudinal direction, respectively. The experimental results show that the proposed framework can operate efficiently in the urban scenario.

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Vu, Van. "Preventing rollover phenomenon with an active anti-roll bar system using electro-hydraulic actuators: A full car model." Journal of Applied Engineering Science 19, no. 1 (2021): 217–29. http://dx.doi.org/10.5937/jaes0-28119.

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This paper discusses the role of the active anti-roll bar system in order to enhance the roll stability of cars, thereby preventing rollover phenomenon in high speed emergency situations. First, an integrated full car model is proposed including the longitudinal, lateral, vertical motions and an electro-hydraulic actuator model. In this full car model, the control signal being the input current which is supplied to the actuators to create the active torques to improve the car's stability. This is the most general model in theory to study this active roll control system and is a big step forward compared to previous related studies. The optimal LQR control method has then been used to synthesize the controller based on the integrated model with 26 degrees of freedom. The criteria used to assess the vehicle roll stability are the sprung mass roll angle and the interactive force between the wheels and the road surface. The simulation results in the frequency domain and the validation in the time domain through the CarSim software's nonlinear car model clearly show the advantages of this active system with an optimal LQR controller in preventing vehicle rollover.

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Grácio, B. J. Correia, M. Wentink, and A. R. Valente Pais. "Driver Behavior Comparison Between Static and Dynamic Simulation for Advanced Driving Maneuvers." Presence: Teleoperators and Virtual Environments 20, no. 2 (April 1, 2011): 143–61. http://dx.doi.org/10.1162/pres_a_00040.

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In advanced driving maneuvers, such as a slalom maneuver, it is assumed that drivers use all the available cues to optimize their driving performance. For example, in curve driving, drivers use lateral acceleration to adjust car velocity. The same result can be found in driving simulation. However, for comparable curves, drivers drove faster in fixed-base simulators than when actually driving a car. This difference in driving behavior decreases with the use of inertial motion feedback in simulators. The literature suggests that the beneficial effect of inertial cues in driving behavior increases with the difficulty of the maneuver. Therefore, for an extreme maneuver such as a fast slalom, a change in driving behavior is expected when a fixed-base condition is compared to a condition with inertial motion. It is hypothesized that driving behavior in a simulator changes when motion cues are present in extreme maneuvers. To test the hypothesis, a comparison between No-Motion and Motion car driving simulation was done, by measuring driving behavior in a fast slalom. A within-subjects design was used, with 20 subjects driving the fast slalom in both conditions. The average speed during the Motion condition was significantly lower than the average speed during the No-Motion condition. The same was found for the peak lateral acceleration generated by the car model. A power spectral density analysis performed on the steering wheel angle signal showed different control input behavior between the two experimental conditions. In addition, the results from a paired comparison showed that subjects preferred driving with motion feedback. From the lower driving speed and different control input on the steering wheel, we concluded that motion feedback led to a significant change in driving behavior.

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Feller, Michael, Jae-Sang Hyun, and Song Zhang. "Active Stereo Vision for Precise Autonomous Vehicle Control." Electronic Imaging 2020, no. 16 (January 26, 2020): 258–1. http://dx.doi.org/10.2352/issn.2470-1173.2020.16.avm-257.

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This paper describes the development of a low-cost, lowpower, accurate sensor designed for precise, feedback control of an autonomous vehicle to a hitch. The solution that has been developed uses an active stereo vision system, combining classical stereo vision with a low cost, low power laser speckle projection system, which solves the correspondence problem experienced by classic stereo vision sensors. A third camera is added to the sensor for texture mapping. A model test of the hitching problem was developed using an RC car and a target to represent a hitch. A control system is implemented to precisely control the vehicle to the hitch. The system can successfully control the vehicle from within 35° of perpendicular to the hitch, to a final position with an overall standard deviation of 3.0 m m of lateral error and 1.5° of angular error.

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Liu, Jie, Ruijun Zhang, Qin He, and Qing Zhang. "Study on horizontal vibration characteristics of high-speed elevator with airflow pressure disturbance and guiding system excitation." Mechanics & Industry 20, no. 3 (2019): 305. http://dx.doi.org/10.1051/meca/2019013.

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This paper aims to study the horizontal vibration dynamic characteristics of high-speed elevator by considering the combined effect of airflow and guiding system. The relationships of lateral force and overturning moment with horizontal displacement, deflection angle displacement and rated speed of the car are mathematically solved, and the horizontal vibration dynamic model of the car under the two excitations is established. For case model, the natural frequency and horizontal vibration response of the car are studied, and the guide-rail excitation frequency and car natural frequency are compared and analyzed. The results indicate that the higher the rated speed is, the more obvious the resonance phenomenon between the guide-rail and car will be in a certain range; the effect of airflow on horizontal vibration acceleration of the car with a speed lower than 6 m/s is small, but when the speed is over 6 m/s, the airflow will greatly affect the single-peak value of horizontal vibration acceleration, which is approximately a quadratic relationship; the deflection angle displacement has an increasing influence on horizontal vibration dynamic response with the increasing speed. The conclusions provide a theoretical guidance for the research and control on the horizontal vibration of high-speed elevator.

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Ribeiro, A. M., M. F. Koyama, A. Moutinho, E. C. de Paiva, and A. R. Fioravanti. "A comprehensive experimental validation of a scaled car-like vehicle: Lateral dynamics identification, stability analysis, and control application." Control Engineering Practice 116 (November 2021): 104924. http://dx.doi.org/10.1016/j.conengprac.2021.104924.

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Journal articles on the topic 'Lateral car control'

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