This research paper aims to identify the effect of tire size on the handling characteristics of a trailer attached to a vehicle. In various stability tests, different models with different tires from the market were t...This research paper aims to identify the effect of tire size on the handling characteristics of a trailer attached to a vehicle. In various stability tests, different models with different tires from the market were tested. A successful outcome of this research would generate an efficient tire selection process and improve the handling of a trailer attached to a vehicle while maximizing fuel efficiency. In this study, different accurate tire models using the magic formula were developed in vehicle dynamics modelling and simulation software. These models were then simulated on on-road conditions to predict vehicle and trailer behaviour under different conditions within the software. Two distinct tests were conducted, the J-Turn test and the Double Lane change test. The results of these tests were used to evaluate the handling characteristics and decide on a better tire size for the trailer attached to the vehicle.展开更多
Purpose–This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety.Design/methodology/approach–The authors proposed a novel safety lane-cha...Purpose–This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety.Design/methodology/approach–The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles.A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads.With different steering and braking maneuvers,minimum safe distances were modeled and calculated.Considering safety and ergonomics,the authors invested multilevel self-driving modes that serve as the basis of decision-making for vehicle lane-change.Furthermore,a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability.Specialized hardware in the loop simulation platform was built to verify the effectiveness of the designed method.Findings–The numerical simulation results demonstrated the path-planning model feasibility and controller-combined decision mechanism effectiveness to self-driving trucks.The proposed trajectory model could provide safety lane-change path planning,and the designed controller could ensure good tracking and robust stability for the closed-loop nonlinear system.Originality/value–This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles.There are two main contributions:thefirst is a more quantifiable trajectory model for self-driving articulated vehicles,which provides the opportunity to adapt vehicle and scene changes.The second involves designing a feedback linearization controller,combined with a multi-objective decision-making mode,to improve the comprehensive performance of intelligent vehicles.This study provides a valuable reference to develop advanced driving assistant system and intelligent control systems for self-driving articulated vehicles.展开更多
文摘This research paper aims to identify the effect of tire size on the handling characteristics of a trailer attached to a vehicle. In various stability tests, different models with different tires from the market were tested. A successful outcome of this research would generate an efficient tire selection process and improve the handling of a trailer attached to a vehicle while maximizing fuel efficiency. In this study, different accurate tire models using the magic formula were developed in vehicle dynamics modelling and simulation software. These models were then simulated on on-road conditions to predict vehicle and trailer behaviour under different conditions within the software. Two distinct tests were conducted, the J-Turn test and the Double Lane change test. The results of these tests were used to evaluate the handling characteristics and decide on a better tire size for the trailer attached to the vehicle.
文摘为提高车辆行驶时的操纵稳定性和安全性,通过协同控制策略研究分析了主动转向与电子稳定控制系统(electronic stability program,ESP)对车辆操纵稳定性的影响。首先基于主动转向的二自由度线性车辆动力学模型设定上层协同控制策略,及下层主动转向控制器和ESP控制器,并结合CarSim与MATLAB/Simulink平台完成主动转向系统、双比例积分微分(proportion integral differentiation,PID)控制器控制的ESP系统及其协同控制的整车模型搭建,然后再基于硬件在环试验台进行高附着路面和低附着路面的双移线试验,最后对比分析不同工况下主动转向与ESP协同控制相对其独立控制下的车辆质心侧偏角和横摆角速度响应曲线。结果表明:本文设计的主动转向与ESP协同控制策略相对其独立控制,可更好地提高车辆的操纵稳定性。可见主动转向与ESP协同控制的稳定性控制效果明显提高,在极限工况下能将车辆控制在安全行驶的稳定范围内。
文摘Purpose–This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety.Design/methodology/approach–The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles.A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads.With different steering and braking maneuvers,minimum safe distances were modeled and calculated.Considering safety and ergonomics,the authors invested multilevel self-driving modes that serve as the basis of decision-making for vehicle lane-change.Furthermore,a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability.Specialized hardware in the loop simulation platform was built to verify the effectiveness of the designed method.Findings–The numerical simulation results demonstrated the path-planning model feasibility and controller-combined decision mechanism effectiveness to self-driving trucks.The proposed trajectory model could provide safety lane-change path planning,and the designed controller could ensure good tracking and robust stability for the closed-loop nonlinear system.Originality/value–This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles.There are two main contributions:thefirst is a more quantifiable trajectory model for self-driving articulated vehicles,which provides the opportunity to adapt vehicle and scene changes.The second involves designing a feedback linearization controller,combined with a multi-objective decision-making mode,to improve the comprehensive performance of intelligent vehicles.This study provides a valuable reference to develop advanced driving assistant system and intelligent control systems for self-driving articulated vehicles.
