Article
Computer Science, Artificial Intelligence
Peng Hang, Xinbo Chen, Wei Wang
Summary: A cooperative control framework is proposed for human drivers and active rear steering system (ARS) to enhance the active safety of vehicles. By applying linear-time-varying model predictive control (MPC), the framework successfully reduces accident risks and improves vehicle's active safety performance.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2021)
Article
Automation & Control Systems
Guodong Wang, Li Liu, Yu Meng, Qing Gu, Guoxing Bai
Summary: The distribution of steering and braking control rights in integrated path tracking control has been addressed in this study. A tire force distribution rule is proposed, and a path tracking control method based on holistic model predictive control is designed. Simulation tests demonstrate the effectiveness and superiority of the proposed method in various conditions.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Agriculture, Multidisciplinary
Linhuan Zhang, Ruirui Zhang, Longlong Li, ChenChen Ding, Danzhu Zhang, Liping Chen
Summary: A state feedback navigation control system based on a virtual Ackerman steering model was proposed to solve the problems of poor smoothness in steering control and low control accuracy in tracked vehicles. Simulations and field experiments showed that the proposed system significantly improved the stability and control accuracy of single-cylinder diesel-engine-powered tracked vehicles, meeting the operational objectives of tracked vehicles.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2022)
Article
Engineering, Civil
Reza Hajiloo, Mehdi Abroshan, Amir Khajepour, Alireza Kasaiezadeh, Shih-Ken Chen
Summary: This paper presents an integrated controller for autonomous vehicles that can react appropriately to sudden obstacles by employing differential braking to improve lateral agility and responsiveness. Additionally, a longitudinal controller is designed to track desired longitudinal velocity using a model predictive control method. The effectiveness of the proposed controller in preventing instability and collisions is demonstrated through simulations using an experimentally validated CarSim model.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)
Article
Engineering, Mechanical
Pingyi Liu, Yifei Gu, Zhe Xu, Junnan Zhang, Wenjun Wei, Ya Wang
Summary: This paper proposes a geometric analysis method for calculating the turning radius and tilting angle of active tilting narrow vehicles during steering. The effects of tilting on the turning radius are studied and verified through mathematical models and prototype vehicle tests. The results provide reference for vehicle control and theoretical basis for future research on accurate self-driving control of active tilting narrow vehicles.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2023)
Article
Agriculture, Multidisciplinary
Jiahao Qin, Anbo Wu, Zhansheng Song, Zhizhu He, Chiider S. Suh, Zhongxiang Zhu, Zhen Li
Summary: This study introduces an active control technique for agricultural wheeled tractors using a single-axis momentum flywheel system and active steering system, which was verified to be effective and robust in simulation and scale-model experiments.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2021)
Article
Computer Science, Information Systems
Tuan Anh Nguyen
Summary: This article discusses the issue of vehicle roll instability when steering at high speeds. It recommends installing an active stabilizer bar in the car to prevent rolling over and improve stability. A complex dynamic model is used to evaluate and analyze vehicle oscillations, and a fuzzy algorithm with three independent inputs is used to control the operation of the active stabilizer bar. Numerical simulation in a Simulink environment shows that the new algorithm significantly reduces the risk of rollover and improves the car's stability and safety.
Article
Agriculture, Multidisciplinary
Zhizhu He, Zhansheng Song, Longlong Wang, Xu Zhou, Junxiao Gao, Kangda Wang, Minli Yang, Zhen Li
Summary: The application of active steering technology is an effective approach to solving the rollover problem for small tractors under complicated road conditions. This study focuses on the improvement of a lateral stability index and the use of sliding mode control technology based on an exponential terminal sliding mode surface. Real vehicle tests were conducted on various road pavements and typical off-road pavements to evaluate the effectiveness of the proposed control methods.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2023)
Article
Engineering, Mechanical
Xiaojun Tan, Deliang Liu, Huiyuan Xiong
Summary: Path tracking is crucial for intelligent electric vehicles, and four-wheel steering (4WS) technology plays a significant role in improving accuracy and flexibility. However, the commonly used control methods for 4WS vehicles in path tracking do not fully utilize the additional steering freedom. To address this issue, a kinematic model without restrictions is derived, and the optimization of system control quantity is achieved through solving an optimization problem with constraints.
Article
Computer Science, Information Systems
Yonghwan Jeong, Seongjin Yim
Summary: This paper presents a method to design a path tracking controller for in-wheel motor-driven electric vehicles (IWM-EVs) equipped with four-wheel independent braking, drive, and steering systems. The method converts the path tracking problem into a yaw rate tracking problem with a reference yaw rate, and proposes two methods to calculate the reference yaw rate. Experimental results show that the proposed path tracking controller is effective in enhancing the path tracking performance of IWM-EVs.
Article
Agronomy
Jieyong Ou, Qiang Fu, Rui Tang, Jianwei Du, Lihong Xu
Summary: This paper proposes a steering compensation method for agricultural tractors traveling on slopes, which adjusts the steering angle to enable more accurate tracking of a reference route. Simulation results show that the method allows for smoother tractor travel and reduces the fluctuation range between the actual and reference routes.
Article
Engineering, Mechanical
Ying Tian, Qiangqiang Yao, Chengqiang Wang, Shengyuan Wang, Jiaqi Liu, Qun Wang
Summary: This paper proposes a force-driven switched MPC path tracking control strategy that coordinates active front-wheel steering with an external yaw moment to improve path tracking accuracy and ensure vehicle stability under handling limit conditions. According to simulation results under normal speed and limiting speed conditions, this strategy can improve control accuracy and ensure vehicle stability.
VEHICLE SYSTEM DYNAMICS
(2022)
Article
Engineering, Mechanical
Zhilin Jin, Jingxuan Li, Hong Wang, Jun Li, Chaosheng Huang
Summary: This paper proposes a motion planning strategy for intelligent heavy trucks with autonomous anti-rollover ability, which effectively improves vehicle rollover stability and prevents collisions. The strategy is validated through numerical simulations, showing its performance under various driving scenarios.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2021)
Article
Agronomy
Baocheng Zhou, Xin Su, Hongjun Yu, Wentian Guo, Qing Zhang
Summary: With the development of agricultural mechanization and information technology, automatic navigation tractors are becoming more common. This study proposes an adaptive time-domain parameter combined with model predictive control (MPC) to improve the accuracy and real-time performance of path tracking control for articulated steering tractors. The proposed algorithm reduces lateral deviations and maintains tracking stability in both simulations and real tractor tests.
Article
Automation & Control Systems
Behrouz Najjari, Mehdi Mirzaei, Amin Tahouni
Summary: This paper obtains the optimal driving torques of the four wheels in an electric vehicle by minimizing the losses of the four in-wheel motors. It proposes a new constrained active front steering (AFS) system which is analytically designed and integrated with the torque vectoring (TV) system in a decentralized structure. The efficiency and practical implementation of the proposed decentralized control structure are demonstrated through comparative simulation studies.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
