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Journal articles on the topic 'Vehicle lateral dynamics'

Author: Grafiati

Published: 4 June 2021

Last updated: 15 February 2022

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1

Lin, Yu Sen, Li Hua Xin, and Min Xiang. "Parameters Analysis of Train Running Performance on High-Speed Bridge during Earthquake." Advanced Materials Research 163-167 (December 2010): 4457–63. http://dx.doi.org/10.4028/www.scientific.net/amr.163-167.4457.

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A model of coupled vehicle-bridge system excited by earthquake and irregular track is established for studying train running performance on high-speed bridge during earthquake, by the methods of bridge structure dynamics and vehicle dynamics. The results indicate that under Qian’an earthquake waves vehicle dynamical responses hardly vary with the increasing-height pier, but vehicle dynamical responses increase evidently while the height of pier is 18m, which the natural vibration frequency is approaching to dominant frequency of earthquake waves. Dynamic responses are linearly increasing with

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Wang, Rui, Hao Zhang, Xian Sheng Li, Xue Lian Zheng, and Yuan Yuan Ren. "Vehicle Dynamics Model Establishing and Dynamic Characteristic Simulation." Applied Mechanics and Materials 404 (September 2013): 244–49. http://dx.doi.org/10.4028/www.scientific.net/amm.404.244.

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By establishing bus simplify coordinate system model and equivalent mechanical model, inertial forces and external forces are analyzed through vehicle lateral movement and vehicle's yaw motion and roll motion. Three degrees of freedom linear motion equation of vehicle is established taking into account lateral motion, yawing movement and rolling motion of vehicle and it can be solved by using method of state space equation. Vehicle dynamic characteristics are analyzed by using this method and programming with Matlab. Vehicle in steering wheel angle step response is analyzed under the condition

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3

Wang, Wen-Hao, Xiao-Jun Xu, Hai-Jun Xu, and Fa-Liang Zhou. "Enhancing lateral dynamic performance of all-terrain vehicles using variable-wheelbase chassis." Advances in Mechanical Engineering 12, no. 5 (2020): 168781402091777. http://dx.doi.org/10.1177/1687814020917776.

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A six-wheel vehicle chassis scheme with a variable wheelbase is proposed to improve the lateral dynamic performance of vehicles. The yaw moment is varied by changing the wheelbase to enhance the lateral dynamic performance of the vehicle. A vehicle lateral dynamics model is established using this approach. The effects of the wheelbase variation on the lateral yaw rate gain, steering stability, and steering error are analysed via numerical calculations. A strategy for wheelbase variation under different working conditions is proposed to enhance the lateral dynamic performance. In addition, by s

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4

Kiencke, U., and A. Daiβ. "Observation of Lateral Vehicle Dynamics." IFAC Proceedings Volumes 29, no. 1 (1996): 7704–7. http://dx.doi.org/10.1016/s1474-6670(17)58930-2.

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5

Kiencke, U., and A. Daiß. "Observation of lateral vehicle dynamics." Control Engineering Practice 5, no. 8 (1997): 1145–50. http://dx.doi.org/10.1016/s0967-0661(97)00108-1.

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6

Koo, Shiang-Lung, and Han-Shue Tan. "Dynamic-Deflection Tire Modeling for Low-Speed Vehicle Lateral Dynamics." Journal of Dynamic Systems, Measurement, and Control 129, no. 4 (2007): 393–403. http://dx.doi.org/10.1115/1.2745847.

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Vehicle lateral dynamics depends heavily on the tire characteristics. Accordingly, a number of tire models were developed to capture the tire behaviors. Among them, the empirical tire models, generally obtained through lab tests, are commonly used in vehicle dynamics and control analyses. However, the empirical models often do not reflect the actual dynamic interactions between tire and vehicle under real operational environments, especially at low vehicle speeds. This paper proposes a dynamic-deflection tire model, which can be incorporated with any conventional vehicle model to accurately pr

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7

Tabti, Khatir, Mohamend Bourahla, and Lotfi Mostefai. "Hybrid Control of Electric Vehicle Lateral Dynamics Stabilization." Journal of Electrical Engineering 64, no. 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 Ma

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8

MASTINU, G., E. BABBEL, P. LUGNER, D. MARGOLIS, P. MITTERMAYR, and B. RICHTER. "Integrated Controls of Lateral Vehicle Dynamics." Vehicle System Dynamics 23, sup1 (1994): 358–77. http://dx.doi.org/10.1080/00423119308969527.

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9

Gagliardi, Gianfranco, Marco Lupia, Gianni Cario, and Alessandro Casavola. "Optimal H∞ Control for Lateral Dynamics of Autonomous Vehicles." Sensors 21, no. 12 (2021): 4072. http://dx.doi.org/10.3390/s21124072.

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This paper presents the design and validation of a model-based H∞ vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle’s longitudi

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10

Li, Yao Xu, Yun Chao Wang, and Pei Feng Feng. "Lateral Dynamics of Three-Axle Steering Vehicle Based Zero Vehicle Sideslip Angle Control." Advanced Materials Research 476-478 (February 2012): 1682–87. http://dx.doi.org/10.4028/www.scientific.net/amr.476-478.1682.

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Based on the established linear 2-DOF dynamics model of three-axle steering vehicle, the relationships between the gain of main transient and steady-state characteristic parameters of three-axle steering vehicle based on Zero Vehicle Sideslip Angle Control (ZVSC), vehicle speed and the deviation of the instantaneous steering center are deduced, and the influences of the control method and system inherent characteristics on steering transient response and stability are discussed. The main characteristic parameters of all wheels steering vehicles and front wheels steering vehicles are compared b

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11

Zhou, Shu Wen, Hai Shu Chen, Si Qi Zhang, and Li Xin Guo. "Vehicle Dynamics Control for Tractor Semitrailer Lateral Stability." Applied Mechanics and Materials 16-19 (October 2009): 544–48. http://dx.doi.org/10.4028/www.scientific.net/amm.16-19.544.

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Rollover and jack-knifing of tractor semitrailer on high speed obstacle avoidance under emergency are serious threats for motorists. A tractor semitrailer model was built with multi-rigid-body method in this paper. The steering performance of tractor semitrailer has been analyzed, as well as the stability control theory, including yaw rate following, anti-rollover. The dynamics simulation for yaw rate following and anti-rollover has been performed on the dynamic tractor semitrailer. The results show that the vehicle dynamics control proposed in this paper can stabilize the tractor semitrailer,

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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 ra

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13

Ding, S. X., Y. Ma, H. G. Schulz, et al. "Fault Tolerant Estimation of Vehicle Lateral Dynamics." IFAC Proceedings Volumes 36, no. 5 (2003): 519–24. http://dx.doi.org/10.1016/s1474-6670(17)36544-8.

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14

Schiehlen, Werner. "On the history of lateral vehicle dynamics." PAMM 14, no. 1 (2014): 71–72. http://dx.doi.org/10.1002/pamm.201410023.

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15

von Vietinghoff, Anne, Marcus Hiemer, and Uwe Kiencke. "NONLINEAR OBSERVER DESIGN FOR LATERAL VEHICLE DYNAMICS." IFAC Proceedings Volumes 38, no. 1 (2005): 988–93. http://dx.doi.org/10.3182/20050703-6-cz-1902.00166.

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16

Moon, Chulwoo, and Seibum B. Choi. "A driver model for vehicle lateral dynamics." International Journal of Vehicle Design 56, no. 1/2/3/4 (2011): 49. http://dx.doi.org/10.1504/ijvd.2011.043258.

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17

Du, Haiping, Nong Zhang, and Weihua Li. "Robust tracking control of vehicle lateral dynamics." International Journal of Vehicle Design 65, no. 4 (2014): 314. http://dx.doi.org/10.1504/ijvd.2014.063830.

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18

Vo, Dai Q., Hormoz Marzbani, Mohammad Fard, and Reza N. Jazar. "Variable caster steering in vehicle dynamics." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 232, no. 9 (2017): 1270–84. http://dx.doi.org/10.1177/0954407017728650.

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When a car is cornering, its wheels usually lean away from the centre of rotation. This phenomenon decreases lateral force, limits tyre performance and eventually reduces the vehicle lateral grip capacity. This paper proposes a strategy for varying caster in the front suspension, thereby altering the wheel camber to counteract this outward inclination. The homogeneous transformation was utilised to develop the road steering wheel kinematics which includes the wheel camber with respect to the ground during a cornering manoeuvre. A variable caster scheme was proposed based on the kinematic analy

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19

Hosseini-Pishrobat, Mehran, Mirali Seyedzavvar, and Mohammad Ali Hamed. "Robust dynamic surface control of vehicle lateral dynamics using disturbance estimation." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 5 (2018): 1081–99. http://dx.doi.org/10.1177/0954407018757619.

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This paper reports a disturbance estimation-based dynamic surface control method for stabilizing vehicle lateral dynamics through yaw moment control. Based on the single track vehicle model, an uncertain model of the vehicle lateral dynamics is developed which represents the effect of parametric uncertainty and lateral tire force nonlinearity by mismatched, lumped total disturbances. In this model, the longitudinal velocity of the vehicle is considered as a time-varying parameter. Using the developed mathematical vehicle model, an extended state observer is proposed to estimate the total distu

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20

Gao, Letian, Lu Xiong, Xuefeng Lin, et al. "Multi-sensor Fusion Road Friction Coefficient Estimation During Steering with Lyapunov Method." Sensors 19, no. 18 (2019): 3816. http://dx.doi.org/10.3390/s19183816.

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The road friction coefficient is a key parameter for autonomous vehicles and vehicle dynamic control. With the development of autonomous vehicles, increasingly, more environmental perception sensors are being installed on vehicles, which means that more information can be used to estimate the road friction coefficient. In this paper, a nonlinear observer aided by vehicle lateral displacement information for estimating the road friction coefficient is proposed. First, the tire brush model is modified to describe the tire characteristics more precisely in high friction conditions using tire test

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21

Jing, Hui, Rongrong Wang, Cong Li, and Jinxiang Wang. "Differential steering-based electric vehicle lateral dynamics control with rollover consideration." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 3 (2019): 338–48. http://dx.doi.org/10.1177/0959651819855810.

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This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differ

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22

Yang, Bin, Mao Song Wan, and Qing Hong Sun. "A Study on Integrated Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability." Advanced Materials Research 466-467 (February 2012): 1285–89. http://dx.doi.org/10.4028/www.scientific.net/amr.466-467.1285.

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This paper presents the design of integrated control for four-wheel steering (4WS) vehicle. A vehicle nonlinear dynamics model is built based on a lateral dynamics simplified linear model. A more accurate sideslip and yaw rate controller is used for lateral dynamics model of 4WS vehicle. Then a vehicle model based on the individual channel and partial decoupling design paradigm is identified from the vehicle dynamics. The sideslip and yaw rate controller is based on a linear multivariable combined with lateral dynamics model and the front and rear steering angles. The results of a stability an

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23

Zeng, Yong. "Effects of Track Elasticity on Wheel-Rail Dynamic Performance of Heavy Haul Railway." Applied Mechanics and Materials 744-746 (March 2015): 1249–52. http://dx.doi.org/10.4028/www.scientific.net/amm.744-746.1249.

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Two vehicle-track dynamics models on heavy haul railway are established in two conditions of rigid track and elastic track. And the impact of track elasticity on the wheel-rail dynamics performance was analyzed using models. The results show that the critical speed of heavy vehicles and wheel-rail dynamic indexes, such as wheel-rail lateral force and wheel-rail vertical force decreased on elastic track compared with rigid track. However, other dynamic indexes, including derailment coefficient and lateral displacement of wheelsets increased on elastic track. And the wheel-rail wear indexes are

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24

Chong, JJ, James Marco, David Greenwood, J. J. Chong, James Marco, and David Greenwood. "Modelling and Simulations of a Narrow Track Tilting Vehicle." Exchanges: The Interdisciplinary Research Journal 4, no. 1 (2016): 86–105. http://dx.doi.org/10.31273/eirj.v4i1.149.

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Narrow track tilting vehicle is a new category of vehicle that combines the dynamical abilities of a passenger car with a motorcycle. In the presence of overturning moments during cornering, an accurate assessment of the lateral dynamics plays an important role to improve their stability and handling. In order to stabilise or control the narrow tilting vehicle, the demand tilt angle can be calculated from the vehicle’s lateral acceleration and controlled by either steering input of the vehicle or using additional titling actuator to reach this desired angle. The aim of this article is to prese

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25

Atarod, Mohammad. "An evaluation of occupant dynamics during moderate-to-high speed side impacts." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 235, no. 5 (2021): 546–65. http://dx.doi.org/10.1177/0954411921994937.

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The present study examined trends in occupant dynamics during side impact testing in vehicle models over the past decade. “Moderate-to-high” speed side impacts (delta-V ≥15 km/h) were analyzed. The Insurance Institute for Highway Safety (IIHS) side impact crash data was examined ( N = 126). The test procedure involved a moving deformable barrier (MDB) impacting the sides of stationary vehicles at 50.0 km/h. Instrumented 5th-percentile female SID IIs dummies were positioned in the driver and left rear passenger seats. Occupant head, neck, shoulder, torso, spine, and pelvis/femur responses (time

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26

Kim, J. "Effect of vehicle model on the estimation of lateral vehicle dynamics." International Journal of Automotive Technology 11, no. 3 (2010): 331–37. http://dx.doi.org/10.1007/s12239-010-0041-1.

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27

El-Esnawy, N. A., and J. F. Wilson. "Lateral Dynamics and Stability of Two Full Vehicles in Tandem." Journal of Dynamic Systems, Measurement, and Control 120, no. 1 (1998): 50–56. http://dx.doi.org/10.1115/1.2801321.

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The lateral dynamics and stability of two full vehicles in tandem are investigated. The nonlinear differential equations of motion of this four-axle articulated vehicle system are presented in matrix form and then linearized. The critical forward velocity of the steady state for oversteering conditions is derived in a closed form, and the criteria for understeer, neutral steer, or oversteer are given. Uncertainty of the critical forward velocity and its sensitivity to errors in the system parameters are evaluated using the root mean square method. Conditions for nonoscillatory and oscillatory

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Ataei, Mansour, Chen Tang, Amir Khajepour, and Soo Jeon. "Active camber system for lateral stability improvement of urban vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 14 (2019): 3824–38. http://dx.doi.org/10.1177/0954407019832436.

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A suspension system with the capability of cambering has an additional degree of freedom for changing camber angle to increase the maximum lateral tire force. This study investigates the effects of cambering on overall vehicle stability with emphasis on applications to urban vehicles. A full vehicle model with a reliable tire model including camber effects is employed to investigate the vehicle dynamics behavior under cambering. Besides, a linearized vehicle model is used to analytically study the effects of camber lateral forces on vehicle dynamics. Vehicle behavior for different configuratio

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Zhang, Shuo, Xuan Zhao, Guohua Zhu, Peilong Shi, Yue Hao, and Lingchen Kong. "Adaptive trajectory tracking control strategy of intelligent vehicle." International Journal of Distributed Sensor Networks 16, no. 5 (2020): 155014772091698. http://dx.doi.org/10.1177/1550147720916988.

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The trajectory tracking control strategy for intelligent vehicle is proposed in this article. Considering the parameters perturbations and external disturbances of the vehicle system, based on the vehicle dynamics and the preview follower theory, the lateral preview deviation dynamics model of the vehicle system is established which uses lateral preview position deviation, lateral preview velocity deviation, lateral preview attitude angle deviation, and lateral preview attitude angle velocity deviation as the tracking state variables. For this uncertain system, the adaptive sliding mode contro

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Su, Shuhua, and Gang Chen. "Lateral robust iterative learning control for unmanned driving robot vehicle." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 7 (2020): 792–808. http://dx.doi.org/10.1177/0959651820904834.

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In order to achieve stable steering and path tracking, a lateral robust iterative learning control method for unmanned driving robot vehicle is proposed. Combining the nonlinear tire dynamic model with the vehicle dynamic model, the nonlinear vehicle dynamic model is constructed. The structure of steering manipulator of unmanned driving robot vehicle is analyzed, and the kinematics model and dynamics model of steering manipulator of unmanned driving robot vehicle are established. The structure of vehicle steering system is analyzed, and the dynamic model of vehicle steering system is establish

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31

Bao, Yu-long, Huo-yue Xiang, Yong-le Li, Chuan-jin Yu, and Yi-chao Wang. "Study of wind–vehicle–bridge system of suspended monorail during the meeting of two trains." Advances in Structural Engineering 22, no. 8 (2019): 1988–97. http://dx.doi.org/10.1177/1369433219830255.

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Based on the theories of aerodynamics, bridge dynamics, and vehicle dynamics, the aerodynamic performances and the vibration characteristics of the wind–vehicle–bridge coupling system of two suspended monorail trains passing each other are analyzed. First, a wind model is presented with spectral representation method, the aerodynamic coefficients of bridge and vehicles before and after meeting are obtained through computational fluid dynamic method, and wind tunnel tests are conducted to verify the aerodynamic coefficients. Then, a vehicle dynamic model and a bridge dynamic model are establish

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32

Qi, Hengmin, Nong Zhang, Yuanchang Chen, and Bohuan Tan. "A comprehensive tune of coupled roll and lateral dynamics and parameter sensitivity study for a vehicle fitted with hydraulically interconnected suspension system." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 1 (2020): 143–61. http://dx.doi.org/10.1177/0954407020944287.

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Roll and lateral dynamics of a vehicle are heavily coupled together, the increase of roll stability does not necessarily result in the improvement of stability in the lateral plane, but the decrease in lateral stability possibly contributes to instability in the roll plane. To address this challenge, a comprehensive tune of coupled roll and lateral dynamics for a vehicle fitted with hydraulically interconnected suspension system is presented in this paper. A typical sport utility vehicle is selected and modeled with 10 degrees of freedom to conduct the dynamic simulation. Also, the fluid equat

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Youssfi, Naoufal El, Mohammed Oudghiri, and Rachid El Bachtiri. "Vehicle lateral dynamics estimation using unknown input observer." Procedia Computer Science 148 (2019): 502–11. http://dx.doi.org/10.1016/j.procs.2019.01.063.

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34

Isermann, R., D. Fischer, M. Börner, and J. Schmitt. "Fault Detection for Lateral and Vertical Vehicle Dynamics." IFAC Proceedings Volumes 37, no. 14 (2004): 549–54. http://dx.doi.org/10.1016/s1474-6670(17)31161-8.

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35

Klein, Ralf, Ulrich Demi, and Thomas Brandmeier. "Improvement of Vehicle Stability Through Lateral Dynamics Control." IFAC Proceedings Volumes 30, no. 7 (1997): 83–87. http://dx.doi.org/10.1016/s1474-6670(17)43244-7.

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36

Liaw, Der-Cherng, Hsin-Han Chiang, and Tsu-Tian Lee. "Elucidating Vehicle Lateral Dynamics Using a Bifurcation Analysis." IEEE Transactions on Intelligent Transportation Systems 8, no. 2 (2007): 195–207. http://dx.doi.org/10.1109/tits.2006.888598.

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37

Sierra, C., E. Tseng, A. Jain, and H. Peng. "Cornering stiffness estimation based on vehicle lateral dynamics." Vehicle System Dynamics 44, sup1 (2006): 24–38. http://dx.doi.org/10.1080/00423110600867259.

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Fischer, D., M. Börner, J. Schmitt, and R. Isermann. "Fault detection for lateral and vertical vehicle dynamics." Control Engineering Practice 15, no. 3 (2007): 315–24. http://dx.doi.org/10.1016/j.conengprac.2006.05.007.

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39

Chen, Xin, Min Tao, Xing Lian Yue, and Jing Bin Song. "The Localization Method of ALV Based on Lateral Dynamics." Applied Mechanics and Materials 599-601 (August 2014): 1272–75. http://dx.doi.org/10.4028/www.scientific.net/amm.599-601.1272.

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Localization is a criticalissue for autonomous vehicle navigation. A localization model based on thestable response in lateral dynamics of the vehicle is hard for practicalapplication because of its nonlinearity, multidimensionality and multivariable.A dynamic self - adaptive network, which is able to adjust the scale of theparameters dynamically and has a good regression performance and self learningability, is used as a approximator to modeling the localization of the vehicle.In order to get a higher accuracy in modeling, a Kalman filer is designed forthe input signal such as steering angle

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Grumondz, V. T., R. V. Pilgunov, M. V. Vinogradov, and N. V. Maykova. "Lateral Motion of Towed Underwater Vehicle within the Problem of Continental Shelf Monitoring." Herald of the Bauman Moscow State Technical University. Series Mechanical Engineering, no. 1 (130) (February 2020): 56–69. http://dx.doi.org/10.18698/0236-3941-2020-1-56-69.

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Lateral motion dynamics was studied of a robotic towed underwater system designed to monitor the continental shelf and consisting of a towed vehicle and a tow wireline. In regard to underwater vehicles of the type in question, it is quite correct to represent spatial motion in the form of a super-position consisting of two flat motions, i.e., longitudinal motion in the vertical plane and lateral motion in the horizontal plane. Dynamics of the towed system longitudinal motion within the monitoring problem was considered in a previously published work by the authors. The present work is its natu

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Szántó, András, Sándor Hajdu, and Krisztián Deák. "Survey of the Application Fields and Modeling Methods of Automotive Vehicle Dynamics Models." International Journal of Engineering and Management Sciences 5, no. 2 (2020): 196–209. http://dx.doi.org/10.21791/ijems.2020.2.26.

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In this paper, a review is presented on automotive vehicle dynamics modeling. Applied vehicle dynamics models from various application fields are analyzed and classified in the first section. Vehicle dynamics models may be simplified because of different reasons: several control/estimation/analysis methods are suitable only for simplified models (e.g. using control-oriented models), or because of the computational cost. Detailed/truth models of vehicle dynamics represent another field of vehicle dynamics modeling, these models play an important role in the virtual prototyping of vehicles. In t

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Xiong, Lu, Xin Xia, Yishi Lu, et al. "IMU-Based Automated Vehicle Slip Angle and Attitude Estimation Aided by Vehicle Dynamics." Sensors 19, no. 8 (2019): 1930. http://dx.doi.org/10.3390/s19081930.

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The slip angle and attitude are vital for automated driving. In this paper, a systematic inertial measurement unit (IMU)-based vehicle slip angle and attitude estimation method aided by vehicle dynamics is proposed. This method can estimate the slip angle and attitude simultaneously and autonomously. With accurate attitude, the slip angle can be estimated precisely even though the vehicle dynamic model (VDM)-based velocity estimator diverges for a short time. First, the longitudinal velocity, pitch angle, lateral velocity, and roll angle were estimated by two estimators based on VDM considerin

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Dang, Dongfang, Feng Gao, and Qiuxia Hu. "Motion Planning for Autonomous Vehicles Considering Longitudinal and Lateral Dynamics Coupling." Applied Sciences 10, no. 9 (2020): 3180. http://dx.doi.org/10.3390/app10093180.

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Vehicles are highly coupled and multi-degree nonlinear systems. The establishment of an appropriate vehicle dynamical model is the basis of motion planning for autonomous vehicles. With the development of autonomous vehicles from L2 to L3 and beyond, the automatic driving system is required to make decisions and plans in a wide range of speeds and on bends with large curvature. In order to make precise and high-quality control maneuvers, it is important to account for the effects of dynamical coupling in these working conditions. In this paper, a new single-coupled dynamical model (SDM) is pro

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Qu, Dayi, Xiufeng Chen, Wansan Yang, and Xiaohua Bian. "Modeling of Car-Following Required Safe Distance Based on Molecular Dynamics." Mathematical Problems in Engineering 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/604023.

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In car-following procedure, some distances are reserved between the vehicles, through which drivers can avoid collisions with vehicles before and after them in the same lane and keep a reasonable clearance with lateral vehicles. This paper investigates characters of vehicle operating safety in car following state based on required safe distance. To tackle this problem, we probe into required safe distance and car-following model using molecular dynamics, covering longitudinal and lateral safe distance. The model was developed and implemented to describe the relationship between longitudinal sa

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Zhang, Yu Fang, Xiao Nian Wang, Ping Jiang, and Jin Zhu. "A Fuzzy Logic Scheme for Lateral Control of an Unmanned Vehicle." Advanced Materials Research 1046 (October 2014): 250–54. http://dx.doi.org/10.4028/www.scientific.net/amr.1046.250.

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The purpose of unmanned vehicle lateral control is to track a desired trajectory in a small error, in order to achieve a stable tracking under different pavements and wind resistance conditions. This paper presents a vehicle lateral control scheme based on fuzzy logic control. A simplified vehicle lateral dynamics model is first obtained by linearizing the original 6-DOF vehicle model, and then the lateral control is decomposed into two modules: steering wheel angle control and steering wheel speed control. Fuzzy logic control for the two modules is developed and simulated by using CarSim and

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Wang, Li Hua, An Ning Huang, and Guang Wei Liu. "Analysis on Curve Negotiation Ability of the Rail Vehicle Based on SIMPACK." Advanced Materials Research 721 (July 2013): 551–55. http://dx.doi.org/10.4028/www.scientific.net/amr.721.551.

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The curve negotiation ability and lateral stability are the important and contradictory indicators when evaluating the dynamic performance of the rail vehicle. And in order to study the stability of the rail vehicle, its curve negotiation ability will be studied firstly. In this paper, the whole multi-body dynamic model of the rail vehicle was proposed based on the theory of multi-body dynamics in the software of Simpack. And the lateral force, derailment and overturning coefficient of the rail vehicle when it passed through a specific curve track with specific speed. Then the curve negotiatio

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Dong, Guang Ming, Jin Chen, and Nong Zhang. "Study on the Time Lag between Steering Input and Vehicle Lateral Acceleration Response under Different Key Vehicle Parameters." Applied Mechanics and Materials 226-228 (November 2012): 681–84. http://dx.doi.org/10.4028/www.scientific.net/amm.226-228.681.

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A passively suspended road vehicle rolls outwards under the influence of lateral acceleration when cornering, which is very dangerous under large lateral acceleration. In this paper, time lag between steering input and vehicle lateral acceleration response is systematically studied to implement the active roll control algorithm from the viewpoint of vehicle system dynamics. A 3 DOF yaw-roll vehicle model is established based on vehicle lateral, roll and yaw dynamics. Vehicle parameters of a 1997 Jeep Cherokee is used for parametric study, where the influences of vehicle velocity, steering freq

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Noei, Shirin, Mohammadreza Parvizimosaed, and Mohammadreza Noei. "Longitudinal Control for Connected and Automated Vehicles in Contested Environments." Electronics 10, no. 16 (2021): 1994. http://dx.doi.org/10.3390/electronics10161994.

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The Society of Automotive Engineers (SAE) defines six levels of driving automation, ranging from Level 0 to Level 5. Automated driving systems perform entire dynamic driving tasks for Levels 3–5 automated vehicles. Delegating dynamic driving tasks from driver to automated driving systems can eliminate crashes attributed to driver errors. Sharing status, sharing intent, seeking agreement, or sharing prescriptive information between road users and vehicles dedicated to automated driving systems can further enhance dynamic driving task performance, safety, and traffic operations. Extensive simula

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Ba, Tengyue, Xiqiang Guan, Jian W. Zhang, and Sanzhou Wang. "Application of Recursive Subspace Method in Vehicle Lateral Dynamics Model Identification." Mathematical Problems in Engineering 2016 (2016): 1–15. http://dx.doi.org/10.1155/2016/1715762.

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Modeling of vehicle behavior based on the identification method has received a renewed attention in recent years. In order to improve the linear time-invariant vehicle identification model, a more general identifiable vehicle model structure is proposed, in which time-varying characteristics of vehicle speed and cornering stiffness are taken into consideration. To identify the proposed linear time-varying vehicle model, a well-established data-driven method, named recursive optimized version of predictor-based subspace identification, is introduced. Before vehicle model identification, the inf

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Kwon, Seong-Jin, Takehiko Fujioka, Ki-Yong Cho, and Myung-Won Suh. "Model-matching control applied to longitudinal and lateral automated driving." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 219, no. 5 (2005): 583–98. http://dx.doi.org/10.1243/095440705x11103.

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Although there has been substantial research on longitudinal and lateral controllers for an automated driving system, stability issues with respect to the effect of uncertainties due to parameter variations (e.g. in the vehicle mass and the cornering stiffness) and disturbances or perturbations to the vehicle system (e.g. in the road gradient and the wind) still need to be addressed. Thus, an automated driving system needs to be made robust to those influences. For this purpose, the model-matching control applied to longitudinal and lateral automated driving is investigated by vehicle dynamics

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