Dynamics Integrated Control And Stability Of Automated Road Vehicles

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Dynamics, Integrated Control and Stability of Automated Road Vehicles

Author : Aleksandar Rodic
Publisher :
ISBN 13 : 9783898212038
Total Pages : 214 pages
Book Rating : 4.2/5 (12 download)

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Book Synopsis Dynamics, Integrated Control and Stability of Automated Road Vehicles by : Aleksandar Rodic

Download or read book Dynamics, Integrated Control and Stability of Automated Road Vehicles written by Aleksandar Rodic and published by . This book was released on 2002 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion control as well as control of vehicle's dynamic performance represents a very delicate and challenging task from the point of view of control system design. Namely, it is necessary to ensure that the control simultaneously satisfies several requirements such as: global stability, ride quality, ride comfort, minimal dynamic loads of the mechanical subsystems, low energy consumption, etc. The choice of the appropriate control strategy and the way of its realization represent a crucial problem the solution of which demands sufficiently deep knowledge of dynamic behaviour of road vehicle in various motion conditions. There are several books dealing with modelling and automotive control. However, the control algorithms described in them are prevailingly based on the so-called decentralized principle, using most often simplified, planar vehicle models and the common control techniques - robust local controllers. Thus, up to now, there has been no text considering the centralized approach to practical vehicle stability analysis. Because of that, the goal of this book is to stress out the importance of knowledge of vehicle dynamics, the benefits of implementation of the integrated control in advanced vehicle controllers, as well as the importance of system's stability analysis in the synthesis of dynamic control laws. Based on the entire vehicle dynamics, two novelties are introduced: (i) integrated dynamic control of road vehicles based on a centralized control approach and (ii) practical stability analysis of the vehicle system. The author: Dr. Aleksandar D. Rodic was born in Belgrade, Yugoslavia, in 1960. His main interest is in modelling, system identification, simulation and control of large-scale dynamic systems. His special interest includes design of integrated and intelligent control algorithms of road vehicles operating with driver assisted control systems. He is the author of more then 40 scientific papers in leading international journals and proceedings of scientific meetings. He is scientific consultant of several international journals. He is winner of the UNIDO/UNDP and of the Alexander von Humboldt Research Fellowship. Prof. Dr. Miomir K. Vukobratovic was born in Zrenjanin, Yugoslavia, 1931. His main interest is the development of efficient modelling of robotic systems' dynamics. Special interest is in modelling and control of legged locomotion robots and active systems. He is the author of more than 20 scientific books and monographs as well as more than 500 papers in world-recognized international journals or conference proceedings. He is a member of many international scientific committees. He is the President of the Yugoslav Engineering Academy, member of Serbian and foreign member of Russian Academy of Sciences. He is an honoured Professor and Doctor Honoris Causa of several universities. He is holder of several international awards for professional activities.

Vehicle Dynamics and Control

Author : Rajesh Rajamani
Publisher : Springer Science & Business Media
ISBN 13 : 1461414326
Total Pages : 516 pages
Book Rating : 4.4/5 (614 download)

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Book Synopsis Vehicle Dynamics and Control by : Rajesh Rajamani

Download or read book Vehicle Dynamics and Control written by Rajesh Rajamani and published by Springer Science & Business Media. This book was released on 2011-12-21 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.

Vehicle Dynamics and Control

Author : Rajesh Rajamani
Publisher : Springer Science & Business Media
ISBN 13 : 1461414334
Total Pages : 516 pages
Book Rating : 4.4/5 (614 download)

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Book Synopsis Vehicle Dynamics and Control by : Rajesh Rajamani

Download or read book Vehicle Dynamics and Control written by Rajesh Rajamani and published by Springer Science & Business Media. This book was released on 2011-12-23 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced. The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.

Vehicle Dynamics and Control

Author : Shahram Azadi
Publisher : Elsevier
ISBN 13 : 0323856608
Total Pages : 510 pages
Book Rating : 4.3/5 (238 download)

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Book Synopsis Vehicle Dynamics and Control by : Shahram Azadi

Download or read book Vehicle Dynamics and Control written by Shahram Azadi and published by Elsevier. This book was released on 2021-03-25 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle Dynamics and Control: Advanced Methodologies features the latest information on advanced dynamics and vehicle motion control, including a comprehensive overview of passenger cars and articulated vehicles, fundamentals, and emerging developments. This book provides a unified, balanced treatment of advanced approaches to vehicle dynamics and control. It proceeds to cover advanced vehicle control strategies, such as identification and estimation, adaptive nonlinear control, new robust control techniques, and soft computing. Other topics, such as the integrated control of passenger cars and articulated heavy vehicles, are also discussed with a significant amount of material on engineering methodology, simulation, modeling, and mathematical verification of the systems. This book discusses and solves new challenges in vehicle dynamics and control problems and helps graduate students in the field of automotive engineering as well as researchers and engineers seeking theoretical/practical design procedures in automotive control systems. Provides a vast spectrum of advanced vehicle dynamics and control systems topics and current research trends Provides an extensive discussion in some advanced topics on commercial vehicles, such as dynamics and control of semitrailer carrying liquid, integrated control system design, path planning and tracking control in the autonomous articulated vehicle

Road Vehicle Automation 2

Author : Gereon Meyer
Publisher : Springer
ISBN 13 : 3319190784
Total Pages : 226 pages
Book Rating : 4.3/5 (191 download)

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Book Synopsis Road Vehicle Automation 2 by : Gereon Meyer

Download or read book Road Vehicle Automation 2 written by Gereon Meyer and published by Springer. This book was released on 2015-06-30 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper collection is the second volume of the LNMOB series on Road Vehicle Automation. The book contains a comprehensive review of current technical, socio-economic, and legal perspectives written by experts coming from public authorities, companies and universities in the U.S., Europe and Japan. It originates from the Automated Vehicle Symposium 2014, which was jointly organized by the Association for Unmanned Vehicle Systems International (AUVSI) and the Transportation Research Board (TRB) in Burlingame, CA, in July 2014. The contributions discuss the challenges arising from the integration of highly automated and self-driving vehicles into the transportation system, with a focus on human factors and different deployment scenarios. This book is an indispensable source of information for academic researchers, industrial engineers, and policy makers interested in the topic of road vehicle automation.

Integrated Vehicle Dynamics and Control

Author : Wuwei Chen
Publisher : John Wiley & Sons
ISBN 13 : 1118380010
Total Pages : 374 pages
Book Rating : 4.1/5 (183 download)

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Book Synopsis Integrated Vehicle Dynamics and Control by : Wuwei Chen

Download or read book Integrated Vehicle Dynamics and Control written by Wuwei Chen and published by John Wiley & Sons. This book was released on 2016-03-31 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive overview of integrated vehicle system dynamics exploring the fundamentals and new and emerging developments This book provides a comprehensive coverage of vehicle system dynamics and control, particularly in the area of integrated vehicle dynamics control. The book consists of two parts, (1) development of individual vehicle system dynamic model and control methodology; and (2) development of integrated vehicle dynamic model and control methodology. The first part focuses on investigating vehicle system dynamics and control according to the three directions of vehicle motions, including longitudinal, vertical, and lateral. Corresponding individual control systems, e.g. Anti-lock Brake System (ABS), Active Suspension, Electric Power Steering System (EPS), are introduced and developed respectively. Particular attention is paid in the second part of the book to develop integrated vehicle dynamic control system. Integrated vehicle dynamics control system is an advanced system that coordinates all the chassis control systems and components to improve the overall vehicle performance including safety, comfort, and economy. Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The research topic on integrated vehicle dynamics control is investigated comprehensively and intensively in the book through both theoretical analysis and experimental study. In this part, two types of control architectures, i.e. centralized and multi-layer, have been developed and compared to demonstrate their advantages and disadvantages. Integrated vehicle dynamics control is a hot topic in automotive research; this is one of the few books to address both theory and practice of integrated systems Comprehensively explores the research area of integrated vehicle dynamics and control through both theoretical analysis and experimental study Addresses a full range of vehicle system topics including tyre dynamics, chassis systems, control architecture, 4 wheel steering system and design of control systems using Linear Matrix Inequality (LMI) Method

Road Vehicle Automation 9

Author : Gereon Meyer
Publisher : Springer Nature
ISBN 13 : 3031111125
Total Pages : 188 pages
Book Rating : 4.0/5 (311 download)

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Book Synopsis Road Vehicle Automation 9 by : Gereon Meyer

Download or read book Road Vehicle Automation 9 written by Gereon Meyer and published by Springer Nature. This book was released on 2022-07-09 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the ninth volume of a sub-series on Road Vehicle Automation, published as part of the Lecture Notes in Mobility. It gathers contributions to the Automated Road Transportation Symposium (ARTS), held on July 12-15, 2021, as a fully virtual event, and as a continuation of TRB's annual summer symposia on automated vehicle systems. Written by researchers, engineers and analysts from around the globe, this book offers a multidisciplinary perspectives on the opportunities and challenges associated with automating road transportation. It highlights innovative strategies, including public policies, infrastructure planning and automated technologies, which are expected to foster sustainable and automated mobility in the near future, thus addressing industry, government and research communities alike.

Interdisciplinary Mechatronics

Author : M. K. Habib
Publisher : John Wiley & Sons
ISBN 13 : 1118577078
Total Pages : 422 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Interdisciplinary Mechatronics by : M. K. Habib

Download or read book Interdisciplinary Mechatronics written by M. K. Habib and published by John Wiley & Sons. This book was released on 2013-05-06 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechatronics represents a unifying interdisciplinary and intelligent engineering science paradigm that features an interdisciplinary knowledge area and interactions in terms of the ways of work and thinking, practical experiences, and theoretical knowledge. Mechatronics successfully fuses (but is not limited to) mechanics, electrical, electronics, informatics and intelligent systems, intelligent control systems and advanced modeling, intelligent and autonomous robotic systems, optics, smart materials, actuators and biomedical and biomechanics, energy and sustainable development, systems engineering, artificial intelligence, intelligent computer control, computational intelligence, precision engineering and virtual modeling into a unified framework that enhances the design of products and manufacturing processes. Interdisciplinary Mechatronics concerns mastering a multitude of disciplines, technologies, and their interaction, whereas the science of mechatronics concerns the invention and development of new theories, models, concepts and tools in response to new needs evolving from interacting scientific disciplines. The book includes two sections, the first section includes chapters introducing research advances in mechatronics engineering, and the second section includes chapters that reflects the teaching approaches (theoretical, projects, and laboratories) and curriculum development for under- and postgraduate studies. Mechatronics engineering education focuses on producing engineers who can work in a high-technology environment, emphasize real-world hands-on experience, and engage in challenging problems and complex tasks with initiative, innovation and enthusiasm. Contents: 1. Interdisciplinary Mechatronics Engineering Science and the Evolution of Human Friendly and Adaptive Mechatronics, Maki K. Habib. 2. Micro-Nanomechatronics for Biological Cell Analysis and Assembly, Toshio Fukuda, Masahiro Nakajima, Masaru Takeuchi, Tao Yue and Hirotaka Tajima. 3. Biologically Inspired CPG-Based Locomotion Control System of a Biped Robot Using Nonlinear Oscillators with Phase Resetting, Shinya Aoi. 4. Modeling a Human’s Learning Processes toward Continuous Learning Support System, Tomohiro Yamaguchi, Kouki Takemori and Keiki Takadama. 5. PWM Waveform Generation Using Pulse-Type Hardware Neural Networks, Ken Saito, Minami Takato, Yoshifumi Sekine and Fumio Uchikoba. 6. Parallel Wrists: Limb Types, Singularities and New Perspectives, Raffaele Di Gregorio. 7. A Robot-Assisted Rehabilitation System – RehabRoby, Duygun Erol Barkana and Fatih Özkul. 8. MIMO Actuator Force Control of a Parallel Robot for Ankle Rehabilitation, Andrew Mcdaid, Yun Ho Tsoi and Shengquan Xie. 9. Performance Evaluation of a Probe Climber for Maintaining Wire Rope, Akihisa Tabata, Emiko Hara and Yoshio Aoki. 10. Fundamentals on the Use of Shape Memory Alloys in Soft Robotics, Matteo Cianchetti. 11. Tuned Modified Transpose Jacobian Control of Robotic Systems, S. A. A. Moosavian and M. Karimi. 12. Derivative-Free Nonlinear Kalman Filtering for PMSG Sensorless Control, Gerasimos Rigatos, Pierluigi Siano and Nikolaos Zervos. 13. Construction and Control of Parallel Robots, Moharam Habibnejad Korayem, Soleiman Manteghi and Hami Tourajizadeh. 14. A Localization System for Mobile Robot Using Scanning Laser and Ultrasonic Measurement, Kai Liu, Hongbo Li and Zengqi Sun. 15. Building of Open-Structure Wheel-Based Mobile Robotic Platform, Aleksandar Rodic and Ivan Stojkovic. 16. Design and Physical Implementation of Holonomous Mobile Robot–Holbos, Jasmin Velagic, Admir Kaknjo, Faruk Dautovic, Muhidin Hujdur and Nedim Osmic. 17. Advanced Artificial Vision and Mobile Devices for New Applications in Learning, Entertainment and Cultural Heritage Domains, Gian Luca Foresti, Niki Martinel, Christian Micheloni and Marco Vernier. 18. Application of Stereo Vision and ARM Processor for Motion Control, Moharam Habibnejad Korayem, Michal Irani and Saeed Rafee Nekoo. 19. Mechatronics as Science and Engineering – or Both, Balan Pillai and Vesa Salminen. 20. A Mechatronic Platform for Robotic Educational Activities, Ioannis Kostavelis, Evangelos Boukas, Lazaros Nalpantidis and Antonios Gasteratos. 21. The Importance of Practical Activities in the Formation of Mechatronic Engineers, Joao Carlos M. Carvalho and Vera Lúcia D.S. Franco About the Authors Maki K. Habib is Professor of Robotics and Mechatronics in the School of Science and Engineering, at the American University in Cairo, Egypt. He has been regional editor (Africa/Middle East,) for the International Journal of Mechatronics and Manufacturing Systems (IJMMS) since 2010. He is the recipient of academic awards and has published many articles and books. J. Paulo Davim is Aggregate Professor in the Department of Mechanical Engineering at the University of Aveiro, Portugal and is Head of MACTRIB (Machining and Tribology Research Group). His main research interests include manufacturing, materials and mechanical engineering.

Dynamics and Optimal Control of Road Vehicles

Author : D. J. N. Limebeer
Publisher : Oxford University Press
ISBN 13 : 0192559818
Total Pages : 480 pages
Book Rating : 4.1/5 (925 download)

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Book Synopsis Dynamics and Optimal Control of Road Vehicles by : D. J. N. Limebeer

Download or read book Dynamics and Optimal Control of Road Vehicles written by D. J. N. Limebeer and published by Oxford University Press. This book was released on 2018-08-23 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.

Dynamics of Robots with Contact Tasks

Author : M. Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 9401703973
Total Pages : 258 pages
Book Rating : 4.4/5 (17 download)

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Book Synopsis Dynamics of Robots with Contact Tasks by : M. Vukobratovic

Download or read book Dynamics of Robots with Contact Tasks written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues. The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.

Road Vehicle Automation 8

Author : Gereon Meyer
Publisher : Springer Nature
ISBN 13 : 3030800636
Total Pages : 115 pages
Book Rating : 4.0/5 (38 download)

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Book Synopsis Road Vehicle Automation 8 by : Gereon Meyer

Download or read book Road Vehicle Automation 8 written by Gereon Meyer and published by Springer Nature. This book was released on 2021-07-08 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the eight volume of a sub-series on Road Vehicle Automation, published as part of the Lecture Notes in Mobility. Written by researchers, engineers and analysts from around the globe, the contributions are based on oral and poster presentations from the Automated Vehicles Symposium (AVS) 2020, held on July 27–30, 2020, as a fully virtual event. The book explores public sector activities, human factors aspects, vehicle systems and other related technological developments, as well as transportation infrastructure planning, which are expect to foster and support road vehicle automation.

Control Applications of Vehicle Dynamics

Author : Jingsheng Yu
Publisher : CRC Press
ISBN 13 : 1000441946
Total Pages : 368 pages
Book Rating : 4.0/5 (4 download)

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Book Synopsis Control Applications of Vehicle Dynamics by : Jingsheng Yu

Download or read book Control Applications of Vehicle Dynamics written by Jingsheng Yu and published by CRC Press. This book was released on 2021-12-20 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents essential knowledge of car vehicle dynamics and control theory with NI LabVIEW software product application, resulting in a practical yet highly technical guide for designing advanced vehicle dynamics and vehicle system controllers. Presenting a clear overview of fundamental vehicle dynamics and vehicle system mathematical models, the book covers linear and non-linear design of model based controls such as wheel slip control, vehicle speed control, path following control, vehicle stability and rollover control, stabilization of vehicle-trailer system. Specific applications to autonomous vehicles are described among the methods. It details the practical applications of Kalman-Bucy filtering and the observer design for sensor signal estimation, alongside lateral vehicle dynamics and vehicle rollover dynamics. The book also discusses high level controllers, alongside a clear explanation of basic control principles for regenerative braking in both electric and hybrid vehicles, and wheel torque vectoring systems. Concrete LabVIEW simulation examples of how the models and controls are used in representative applications, along with software algorithms and LabVIEW block diagrams are illustrated. It will be of interest to engineering students, automotive engineering students and automotive engineers and researchers.

Road Vehicle Automation 5

Author : Gereon Meyer
Publisher : Springer
ISBN 13 : 3319948962
Total Pages : 247 pages
Book Rating : 4.3/5 (199 download)

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Book Synopsis Road Vehicle Automation 5 by : Gereon Meyer

Download or read book Road Vehicle Automation 5 written by Gereon Meyer and published by Springer. This book was released on 2018-06-25 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the fifth volume of a sub series on Road Vehicle Automation published within the Lecture Notes in Mobility. Like in previous editions, scholars, engineers and analysts from all around the world have contributed chapters covering human factors, ethical, legal, energy and technology aspects related to automated vehicles, as well as transportation infrastructure and public planning. The book is based on the Automated Vehicles Symposium which was hosted by the Transportation Research Board (TRB) and the Association for Unmanned Vehicle Systems International (AUVSI) in San Francisco, California (USA) in July 2017.

Automated Vehicle Control Beyond the Stability Limits

Author : Yan Ming Jonathan Goh
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (11 download)

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Book Synopsis Automated Vehicle Control Beyond the Stability Limits by : Yan Ming Jonathan Goh

Download or read book Automated Vehicle Control Beyond the Stability Limits written by Yan Ming Jonathan Goh and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Automated vehicles can access a much wider range of maneuvers - and therefore, avoid accidents in a larger number of scenarios - by operating safely beyond the stability limits. This thesis presents a series of contributions towards this goal, supported throughout by fully autonomous experiments on MARTY, a heavily-modified 1981 DMC DeLorean. First, we develop a physically insightful controller structure for automated drifting along a general path. In stark contrast with conventional driving scenarios, the speed of the vehicle is not explicitly tracked. Instead, we show that the coupling between lateral and longitudinal dynamics, often regarded as a formidable challenge for human drivers, allows velocity to be regarded as a stable zero dynamic under the imposed control law. This approach is experimentally demonstrated on a slowly-changing trajectory. The thesis then builds upon this result to present the fully autonomous execution of highly dynamic drifting maneuvers. The planning of a 'Figure 8' trajectory is formulated as a nonlinear optimization problem. We show that the key challenge is the loss of independent control over the velocity vector and vehicle body rotation rates that occurs when operating at the limits of the achievable state derivatives. Experiments confirm the effectiveness of modifications to the controller that account for this effect. To confidently venture past the well-known stability limits and utilize these transient maneuvers, however, it is critical to know the bounds on what is achievable. This thesis proposes a novel and intuitive approach for defining such an envelope, namely that the relevant criteria is avoiding the loss of steering authority over the rotational dynamics. The utility of this approach is demonstrated through a pair of experiments with and without a 'supervisor' that modifies the underlying controller. While the vehicle successfully completes the maneuver with the supervisor active, it spins out otherwise. Finally, the effectiveness of this combined approach is showcased though a series of tests on a long sustained drifting course of almost 1 kilometer in length, that includes several highly dynamic transitions, and reaches 40 degrees of sideslip, 2.5 rad/s of yaw rate, and speeds of 50km/h.

Road and Off-Road Vehicle System Dynamics Handbook

Author : Gianpiero Mastinu
Publisher : CRC Press
ISBN 13 : 0849333229
Total Pages : 1710 pages
Book Rating : 4.8/5 (493 download)

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Book Synopsis Road and Off-Road Vehicle System Dynamics Handbook by : Gianpiero Mastinu

Download or read book Road and Off-Road Vehicle System Dynamics Handbook written by Gianpiero Mastinu and published by CRC Press. This book was released on 2014-01-06 with total page 1710 pages. Available in PDF, EPUB and Kindle. Book excerpt: Featuring contributions from leading experts, the Road and Off-Road Vehicle System Dynamics Handbook provides comprehensive, authoritative coverage of all the major issues involved in road vehicle dynamic behavior. While the focus is on automobiles, this book also highlights motorcycles, heavy commercial vehicles, and off-road vehicles. The authors of the individual chapters, both from automotive industry and universities, address basic issues, but also include references to significant papers for further reading. Thus the handbook is devoted both to the beginner, wishing to acquire basic knowledge on a specific topic, and to the experienced engineer or scientist, wishing to have up-to-date information on a particular subject. It can also be used as a textbook for master courses at universities. The handbook begins with a short history of road and off-road vehicle dynamics followed by detailed, state-of-the-art chapters on modeling, analysis and optimization in vehicle system dynamics, vehicle concepts and aerodynamics, pneumatic tires and contact wheel-road/off-road, modeling vehicle subsystems, vehicle dynamics and active safety, man-vehicle interaction, intelligent vehicle systems, and road accident reconstruction and passive safety. Provides extensive coverage of modeling, simulation, and analysis techniques Surveys all vehicle subsystems from a vehicle dynamics point of view Focuses on pneumatic tires and contact wheel-road/off-road Discusses intelligent vehicle systems technologies and active safety Considers safety factors and accident reconstruction procedures Includes chapters written by leading experts from all over the world This text provides an applicable source of information for all people interested in a deeper understanding of road vehicle dynamics and related problems.

Applications of Model Predictive Control to Vehicle Dynamics for Active Safety and Stability

Author : Craig Earl Beal
Publisher : Stanford University
ISBN 13 :
Total Pages : 161 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Applications of Model Predictive Control to Vehicle Dynamics for Active Safety and Stability by : Craig Earl Beal

Download or read book Applications of Model Predictive Control to Vehicle Dynamics for Active Safety and Stability written by Craig Earl Beal and published by Stanford University. This book was released on 2011 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: Each year in the United States, thousands of lives are lost as a result of loss of control crashes. Production driver assistance systems such as electronic stability control (ESC) have been shown to be highly effective in preventing many of these automotive crashes, yet these systems rely on a sensor suite that yields limited information about the road conditions and vehicle motion. Furthermore, ESC systems rely on gains and thresholds that are tuned to yield good performance without feeling overly restrictive to the driver. This dissertation presents an alternative approach to providing stabilization assistance to the driver which leverages additional information about the vehicle and road that may be obtained with advanced estimation techniques. This new approach is based on well-known and robust vehicle models and utilizes phase plane analysis techniques to describe the limits of stable vehicle handling, alleviating the need for hand tuning of gains and thresholds. The resulting state space within the computed handling boundaries is referred to as a safe handling envelope. In addition to the boundaries being straightforward to calculate, this approach has the benefit of offering a way for the designer of the system to directly adjust the controller to accomodate the preferences of different drivers. A model predictive control structure capable of keeping the vehicle within the safe handling boundaries is the final component of the envelope control system. This dissertation presents the design of a controller that is capable of smoothly and progressively augmenting the driver steering input to enforce the boundaries of the envelope. The model predictive control formulation provides a method for making trade-offs between enforcing the boundaries of the envelope, minimizing disruptive interventions, and tracking the driver's intended trajectory. Experiments with a steer-by-wire test vehicle demonstrate that the model predictive envelope control system is capable of operating in conjunction with a human driver to prevent loss of control of the vehicle while yielding a predictable vehicle trajectory. These experiments considered both the ideal case of state information from a GPS/INS system and an a priori friction estimate as well as a real-world implementation estimating the vehicle states and friction coefficient from steering effort and inertial sensors. Results from the experiments demonstrated a controller that is tolerant of vehicle and tire parameterization errors and works well over a wide range of conditions. When real time sensing of the states and friction properties is enabled, the results show that coupling of the controller and estimator is possible and the model predictive control structure provides a mechanism for minimizing undesirable coupled dynamics through tuning of intuitive controller parameters. The model predictive control structure presented in this dissertation may also be considered as a general framework for vehicle control in conjunction with a human driver. The structure utilized for envelope control may also be used to restrict other vehicle states for safety and stability. Results are presented in this dissertation to show that a model predictive controller can coordinate a secondary actuator to alter the planar states and reduce the energy transferred into the roll modes of the vehicle. The systematic approach to vehicle stabilization presented in this dissertation has the potential to improve the design methodology for future systems and form the basis for the inclusion of more advanced functions as sensing and computing capabilities improve. The envelope control system presented here offers the opportunity to advance the state of the art in stabilization assistance and provides a way to help drivers of all skill levels maintain control of their vehicle.

Handbook of Intelligent Vehicles

Author : Azim Eskandarian
Publisher : Springer
ISBN 13 : 9780857290847
Total Pages : 0 pages
Book Rating : 4.2/5 (98 download)

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Book Synopsis Handbook of Intelligent Vehicles by : Azim Eskandarian

Download or read book Handbook of Intelligent Vehicles written by Azim Eskandarian and published by Springer. This book was released on 2012-02-26 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Intelligent Vehicles provides a complete coverage of the fundamentals, new technologies, and sub-areas essential to the development of intelligent vehicles; it also includes advances made to date, challenges, and future trends. Significant strides in the field have been made to date; however, so far there has been no single book or volume which captures these advances in a comprehensive format, addressing all essential components and subspecialties of intelligent vehicles, as this book does. Since the intended users are engineering practitioners, as well as researchers and graduate students, the book chapters do not only cover fundamentals, methods, and algorithms but also include how software/hardware are implemented, and demonstrate the advances along with their present challenges. Research at both component and systems levels are required to advance the functionality of intelligent vehicles. This volume covers both of these aspects in addition to the fundamentals listed above.