Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developmen...Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developments in the estimation of vehicle dynamic states. The definitions used in vehicle dynamic state estimation are first introduced, and alternative estimation structures are presented. Then, the sensor configuration schemes used to estimate vehicle velocity, sideslip angle, yaw rate and roll angle are presented. The vehicle models used for vehicle dynamic state estimation are further summarized, and representative estimation approaches are discussed. Future concerns and perspectives for vehicle dynamic state estimation are also discussed.展开更多
An active front steering （AFS） intervention control during braking for vehicle stability is presented. Based on the investigation of AFS mechanism, a simplified model of steering system is established and integrated...An active front steering （AFS） intervention control during braking for vehicle stability is presented. Based on the investigation of AFS mechanism, a simplified model of steering system is established and integrated with vehicle model. Then the AFS control on vehicle handling dynamics during braking is designed. Due to the difficulties associated with the sideslip angle measurement of vehicle, a state observer is designed to provide real time estimation. Thereafter, the controller with the feedback of both sideslip and yaw angle is implemented. To evaluate the system control, the proposed AFS controlled vehicle has been tested in the Hardware-in-the-loop-simulation （HILS） system and compared with that of conventional vehicle. Results show that AFS can improve vehicle lateral stability effectively without reducing the braking performance.展开更多
综合分析了降雨、超速情况下曲线路段小客车行车风险。利用C a r s i m软件建立车辆动力学仿真模型,以临界附着系数作为小客车行车风险评价指标,运用M a t l a b软件建立小客车行车风险评价模型并进行风险分析。结果表明:在设计速度8 0 ...综合分析了降雨、超速情况下曲线路段小客车行车风险。利用C a r s i m软件建立车辆动力学仿真模型,以临界附着系数作为小客车行车风险评价指标,运用M a t l a b软件建立小客车行车风险评价模型并进行风险分析。结果表明:在设计速度8 0 k m/h时,当行驶速度超过9 6 k m/h,小客车在降雨的曲线路段行驶时发生侧滑的风险概率大于4 8.4 0%;当降雨强度大于1.5 m m/m i n,小客车在曲线路段超速行驶时发生侧滑的风险概率大于1 6.3 5%;在降雨、超速情况下,小客车在曲线半径为2 5 0 m的曲线路段行驶时发生侧滑的风险概率大于9 0%。展开更多
The aim of this work is to investigate the influence of rainy weather on traffic accidents of a freeway. The micro-scale driving behaviors in rainy weather and possible vehicle rear-end and sideslip accidents are anal...The aim of this work is to investigate the influence of rainy weather on traffic accidents of a freeway. The micro-scale driving behaviors in rainy weather and possible vehicle rear-end and sideslip accidents are analyzed. An improved CA model of two lanes one-way freeway is presented, where some vehicle accidents will occur when the necessary conditions are simultaneously satisfied. The characteristics of traffic flow under different rainfall intensities are discussed and the accident probabilities are analyzed via the simulation experiments by using variable speed limit （VSL） and incoming flow control. The results indicate that the measures are effective especially during heavy rainstorms or short-time heavy rainfall. According to different rainfall intensities, an appropriate strategy should be adopted in order to reduce the probability of vehicle accidents and enhance traffic flux as well.展开更多
The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck a...The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck and nonlinear characteristics of moving vehicles,nonlinear observer of vehicle status is designed to strength robustness of dynamic control system in this paper. A 4-degree-of-freedom nonlinear dynamic model of articulated electric drive vehicle is built as reference model to estimate the state of the articulated vehicle. And by adopting Unscented Kalman Filter( UKF) algorithm,a series of state parameters such as longitudinal velocities of front and rear frames,yaw rate and side-slip angle are estimated. During the test of 60 t articulated electric drive vehicle,2 inertial navigation modules are installed in the front frame and rear frame respectively and the speed of each electric drive wheel is obtained simultaneously. As the test results suggest,in various working conditions,the algorithm based on UKF is able to accurately estimate the state parameters of articulated vehicle with the estimated error less than 5%. The proposed method is justified to be the theoretical basis and application guidance for articulated vehicle stability control.展开更多
Suffering from actuator failure and complex sideslip angle,the motion control of a sailboat becomes challenging.In this paper,an improved double finite-time observer-based line-of-sight guidance and finite-time contro...Suffering from actuator failure and complex sideslip angle,the motion control of a sailboat becomes challenging.In this paper,an improved double finite-time observer-based line-of-sight guidance and finite-time control(IDFLOS-FC)scheme is presented for path following of sailboats.The salient features of the proposed IDFLOS-FC scheme are as follows:(1)Considering the problem of actuator failure,an actuator failure model is introduced into the dynamics model of a sailboat.(2)The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers(DFSOs),which reduces the error in line-of-sight(LOS)guidance.(3)A radial basis function(RBF)neural network is used to fit the uncertainty of the model,and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory,so that the controller has accurate tracking and interference suppression.(4)According to the Lyapunov method,the system is finite-time stable.Finally,simulation was used to validate the effectiveness of the method.展开更多
基金supported by the National Natural Science Foundation of China(61403158,61520106008)the Project of the Education Department of Jilin Province(2016-429)
文摘Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developments in the estimation of vehicle dynamic states. The definitions used in vehicle dynamic state estimation are first introduced, and alternative estimation structures are presented. Then, the sensor configuration schemes used to estimate vehicle velocity, sideslip angle, yaw rate and roll angle are presented. The vehicle models used for vehicle dynamic state estimation are further summarized, and representative estimation approaches are discussed. Future concerns and perspectives for vehicle dynamic state estimation are also discussed.
文摘An active front steering （AFS） intervention control during braking for vehicle stability is presented. Based on the investigation of AFS mechanism, a simplified model of steering system is established and integrated with vehicle model. Then the AFS control on vehicle handling dynamics during braking is designed. Due to the difficulties associated with the sideslip angle measurement of vehicle, a state observer is designed to provide real time estimation. Thereafter, the controller with the feedback of both sideslip and yaw angle is implemented. To evaluate the system control, the proposed AFS controlled vehicle has been tested in the Hardware-in-the-loop-simulation （HILS） system and compared with that of conventional vehicle. Results show that AFS can improve vehicle lateral stability effectively without reducing the braking performance.
文摘综合分析了降雨、超速情况下曲线路段小客车行车风险。利用C a r s i m软件建立车辆动力学仿真模型,以临界附着系数作为小客车行车风险评价指标,运用M a t l a b软件建立小客车行车风险评价模型并进行风险分析。结果表明:在设计速度8 0 k m/h时,当行驶速度超过9 6 k m/h,小客车在降雨的曲线路段行驶时发生侧滑的风险概率大于4 8.4 0%;当降雨强度大于1.5 m m/m i n,小客车在曲线路段超速行驶时发生侧滑的风险概率大于1 6.3 5%;在降雨、超速情况下,小客车在曲线半径为2 5 0 m的曲线路段行驶时发生侧滑的风险概率大于9 0%。
基金supported by the National Natural Science Foundation of China(Grant No.50478088)the Natural Science Foundation of Hebei Province,China(Grant No.E2015202266)
文摘The aim of this work is to investigate the influence of rainy weather on traffic accidents of a freeway. The micro-scale driving behaviors in rainy weather and possible vehicle rear-end and sideslip accidents are analyzed. An improved CA model of two lanes one-way freeway is presented, where some vehicle accidents will occur when the necessary conditions are simultaneously satisfied. The characteristics of traffic flow under different rainfall intensities are discussed and the accident probabilities are analyzed via the simulation experiments by using variable speed limit （VSL） and incoming flow control. The results indicate that the measures are effective especially during heavy rainstorms or short-time heavy rainfall. According to different rainfall intensities, an appropriate strategy should be adopted in order to reduce the probability of vehicle accidents and enhance traffic flux as well.
基金Sponsored by the National High Technology Research and Development Program:Underground Mining Intelligent Truck(Grant No.2011AA060404)
文摘The requirements of vehicle dynamic stability control are higher than ever as the significant increase of electric drive articulated vehicle speed. According to the construction features of articulated dumping truck and nonlinear characteristics of moving vehicles,nonlinear observer of vehicle status is designed to strength robustness of dynamic control system in this paper. A 4-degree-of-freedom nonlinear dynamic model of articulated electric drive vehicle is built as reference model to estimate the state of the articulated vehicle. And by adopting Unscented Kalman Filter( UKF) algorithm,a series of state parameters such as longitudinal velocities of front and rear frames,yaw rate and side-slip angle are estimated. During the test of 60 t articulated electric drive vehicle,2 inertial navigation modules are installed in the front frame and rear frame respectively and the speed of each electric drive wheel is obtained simultaneously. As the test results suggest,in various working conditions,the algorithm based on UKF is able to accurately estimate the state parameters of articulated vehicle with the estimated error less than 5%. The proposed method is justified to be the theoretical basis and application guidance for articulated vehicle stability control.
基金supported by the National Natural Science Foundation of China(Nos.52271306,52025111,and 51939003)the Central Guidance on Local Science and Technology Development Fund(No.2023JH6/100100010)the Fundamental Research Funds for the Central Universities(No.3132023501),China.
文摘Suffering from actuator failure and complex sideslip angle,the motion control of a sailboat becomes challenging.In this paper,an improved double finite-time observer-based line-of-sight guidance and finite-time control(IDFLOS-FC)scheme is presented for path following of sailboats.The salient features of the proposed IDFLOS-FC scheme are as follows:(1)Considering the problem of actuator failure,an actuator failure model is introduced into the dynamics model of a sailboat.(2)The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers(DFSOs),which reduces the error in line-of-sight(LOS)guidance.(3)A radial basis function(RBF)neural network is used to fit the uncertainty of the model,and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory,so that the controller has accurate tracking and interference suppression.(4)According to the Lyapunov method,the system is finite-time stable.Finally,simulation was used to validate the effectiveness of the method.
