Showing papers on "Active steering published in 2012"
TL;DR: The results showed an increase in look-ahead fixations in the direction of the bend exit and a small but consistent reduction in the time spent looking in the area of the tangent point when steering was passive, which supports the idea that drivers look at the boundary of a safe trajectory envelop near the inside edge line.
Abstract: Current theories on the role of visuomotor coordination in driving agree that active sampling of the road by the driver informs the arm-motor system in charge of performing actions on the steering wheel. Still under debate, however, is the nature of visual cues and gaze strategies used by drivers. In particular, the tangent point hypothesis, which states that drivers look at a specific point on the inside edge line, has recently become the object of controversy. An alternative hypothesis proposes that drivers orient gaze toward the desired future path, which happens to be often situated in the vicinity of the tangent point. The present study contributed to this debate through the analyses of the distribution of gaze orientation with respect to the tangent point. The results revealed that drivers sampled the roadway in the close vicinity of the tangent point rather than the tangent point proper. This supports the idea that drivers look at the boundary of a safe trajectory envelop near the inside edge line. Furthermore, the study investigated for the first time the reciprocal influence of manual control on gaze control in the context of driving. This was achieved through the comparison of gaze behavior when drivers actively steered the vehicle or when steering was performed by an automatic controller. The results showed an increase in look-ahead fixations in the direction of the bend exit and a small but consistent reduction in the time spent looking in the area of the tangent point when steering was passive. This may be the consequence of a change in the balance between cognitive and sensorimotor anticipatory gaze strategies. It might also reflect bidirectional coordination control between the eye and arm-motor systems, which goes beyond the common assumption that the eyes lead the hands when driving.
78 citations
TL;DR: An estimator based on the high-order sliding mode observer is developed to estimate the vehicle dynamics, such as lateral acceleration limit and center height of gravity, and the identification of unsprung masses and suspension stiffness parameters of the model have been computed to increase the robustness of the method.
Abstract: The aim of this paper is to develop an active steering assistance system to avoid the rollover of heavy vehicles (HV). The proposed approach is applied on a single body model of HV presented in this paper. An estimator based on the high-order sliding mode observer is developed to estimate the vehicle dynamics, such as lateral acceleration limit and center height of gravity. Lateral position and lateral speed are controlled using a twisting algorithm to ensure the stability of the vehicle and avoid accidents. At the same time, the identification of unsprung masses and suspension stiffness parameters of the model have been computed to increase the robustness of the method. Some simulation and experimental results are given to show the quality of the proposed concept.
70 citations
9 May 2012
TL;DR: In this paper, the authors proposed a new desired articulation angle for directional control of the articulated vehicles, which ensures that the rear end of the trailer unit closely follows the trajectory of the fifth wheel.
Abstract: In articulated vehicles, one of the main driver's intentions is that the trailer unit closely follows the path of the tractor unit. However, this expectation is not satisfied even at low speeds. Therefore, it is necessary to develop an appropriate method to reduce or even to eliminate the path tracking error. This article proposes a new desired articulation angle for directional control of the articulated vehicles. The proposed reference value tracking ensures that the rear end of the trailer unit closely follows the trajectory of the fifth wheel. Achieving this goal, a tracking error based on the kinematics of the planar motion of the articulated vehicle is defined. Eliminating the tracking error provides a proper determination of the desired articulation angle between the tractor and trailer unit. A controller designed based on the fuzzy logic theory tracks the proposed reference articulation angle by steering the trailer wheels. To evaluate the effectiveness of the proposed method on both low-speed and high-speed maneuvers, simulations of two maneuvers including low-speed 90° turn and high-speed lane change maneuvers are carried out. The simulation results prove the significant effects of the proposed method on enhancing path following performance. Language: en
62 citations
23 Mar 2012
TL;DR: In this article, a robust control algorithm of sliding mode control is designed for four wheel active steering (4WAS) vehicle, and simulation for 4WAS and front steering is carried out in Simulink for step steer and double lane change maneuver to verify the effectiveness of the proposed control system.
Abstract: Active steering control is one of the approach that can be used to improve the vehicle's lateral and yaw stability. By combining active front steering and active rear steering control, the vehicle's handling and stability can be improved via four wheel active steering (4WAS) control. In this paper, a robust control algorithm of sliding mode control is designed for 4WAS vehicle. Single track 2 d.o.f linear model is utilized for controller design and simulation purpose. Simulation for 4WAS and front steering (AFS) is carried out in Simulink for step steer and double lane change maneuver to verify the effectiveness of the proposed control system. The result shows that the 4WAS perform better than the AFS in tracking the desired response trajectory.
37 citations
TL;DR: An optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software.
Abstract: Optimum coordination of individual brakes and front/rear steering subsystems is presented. The integrated control strategy consists of three modules. A coordinated high-level control determines the body forces/moment required to achieve vehicle motion objectives. The body forces/moment are allocated to braking and steering subsystems through an intermediate unit, which integrates available subsystems based on phase plane notion in an optimal manner. To this end, an optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software. A low-level slip-ratio controller works to generate the desired longitudinal forces at small longitudinal slip-ratios, while averting wheel locking at large slip-ratios. The efficiency of the suggested approach is demonstrated through computer simulations.
36 citations
TL;DR: In this article, a steering-based controller for improving lateral performance of longer combination vehicles (LCVs) is proposed to regulate the time span between the driver steering and generation of tyre lateral forces at the towed units and consequently reduce the yaw rate rearward amplification (RWA) and offtracking.
Abstract: A steering-based controller for improving lateral performance of longer combination vehicles (LCVs) is proposed. The controller steers the axles of the towed units to regulate the time span between the driver steering and generation of tyre lateral forces at the towed units and consequently reduces the yaw rate rearward amplification (RWA) and offtracking. The open-loop effectiveness of the controller is evaluated with simulations and its closed loop or driver in the loop effectiveness is verified on a test track with a truck-dolly-semitrailer test vehicle in a series of single- and double-lane change manoeuvres. The developed controller reduces the yaw rate RWA and offtracking considerably without diminishing the manoeuvrability. Furthermore, as a byproduct, it decreases the lateral acceleration RWA moderately. The obtained safety improvements by the proposed controller can promote the use of LCVs in traffic which will result in the reduction of congestion problem as well as environmental and economic benefits.
34 citations
3 Jun 2012
TL;DR: The proposed multirates steering control scheme is shown to exhibit significantly improved control performance and a method to design the multirate decentralized extended Kalman filter is presented.
Abstract: A multirate steering control scheme is developed for autonomous vehicle lateral maneuvering. The proposed scheme consists of a multirate extended Kalman filter and a state feedback control. The multirate extended Kalman filter is to estimate the vehicle states at a fast rate of the car ECU using multirate sensing — a slow vision-based lane detection by a camera and fast motion detection by inertia sensors. A method to design the multirate decentralized extended Kalman filter is presented. Through application results, the proposed multirate steering control scheme is shown to exhibit significantly improved control performance.
25 citations
1 Feb 2012
TL;DR: Different control approaches to perform an evasive collision avoidance manoeuvre using active steering are presented, showing that all controllers perform similarly in controlling the trajectory of the bicycle model.
Abstract: This paper presents different control approaches to perform an evasive collision avoidance manoeuvre using active steering. Linear and non-linear controllers to control the combined lateral and longitudinal motion of the vehicle using predefined trajectories are compared. A proportional–derivative controller, a linear quadratic regulator (LQR), and two different sliding-mode controllers (SMC) were developed. The second SMC model includes an additional velocity error term, which augments the model with a steering actuator term. The controllers were implemented on a bicycle model and a 17 degrees-of-freedom (DOF) vehicle model. The results showed that all controllers perform similarly in controlling the trajectory of the bicycle model. However, in implementation on the non-linear full vehicle dynamics model, the LQR and SMCs provided similar position tracking, but the two SMCs performed better in minimizing the yaw (directional) error at the end of the trajectory. However, at a higher velocity, SMC2 resulte...
18 citations
1 Dec 2012
TL;DR: A comparison between the proposed “LPV” strategy with the “LTI” case confirms the effectiveness of the proposed control strategy, and aims to enhance vehicle performances by generating a hierarchical activation of the 3 controllers in critical driving situations.
Abstract: This paper proposes a new multivariable design strategy for Global Chassis Control, using LPV/H ∞ robust controllers of semi-active suspension, active steering and electro-mechanical braking actuators. The proposed solution is a two stages control scheme: on one hand, rear braking and front steering to enhance the vehicle yaw stability and the lateral dynamics, and on the other hand, semi-active suspensions to improve comfort and car handling performances. The main idea of the strategy is to schedule the 3 control actions (braking, steering and suspension) according to the driving situation evaluated by a specific monitor. The main result of this paper is to propose a “LPV” strategy that aims to enhance vehicle performances by generating a hierarchical activation of the 3 controllers in critical driving situations. Simulations are carried out on a complex full vehicle model equipped with Magneto-Rheological Dampers characteristics subject to critical driving situations. A comparaison between the proposed “LPV” strategy with the “LTI” case confirms the effectiveness of the proposed control strategy.
18 citations
TL;DR: In this article, a control method to cancel the unnatural reaction torque created by the variable actuator, restricting the further practical use of the variable-gear-ratio steering, is proposed.
Abstract: Variable-gear-ratio steering, also known as active steering, is an advanced steering technology which enhances the driver’s comfort and vehicle operability. However, one big problem, namely the unnatural reaction torque created by the variable actuator, restricts the further practical-use of the variable-gear-ratio steering. This paper proposes a control method to cancel the unnatural torque using a simple concept called friction relocation. Effectiveness of the method is experimentally confirmed using a hardware-in-the-loop simulator.
Patent•
20 Jul 2012
TL;DR: A swather tractor has a pair of driven ground wheels at one end where a header is supported and steerable wheels at the other end for supporting the tractor as mentioned in this paper, which are hydraulically driven so that an operator controlled steering control is arranged to control a differential in rate of supply of hydraulic fluid to control relative speed of rotation of the driven wheels and thus a turning direction of the tractor.
Abstract: A swather tractor has a pair of driven ground wheels at one end where a header is supported and a pair of steerable wheels at the other end for supporting the tractor. The driven ground wheels are hydraulically driven so that an operator controlled steering control is arranged to control a differential in rate of supply of hydraulic fluid to control a relative speed of rotation of the driven wheels and thus a turning direction of the tractor. The steerable wheels have a steering system that is operable in response to the steering control to positively steer the steerable wheels and there is provided an arrangement to deactivate the steering system at large turns so that the steerable wheels are free to castor.
TL;DR: Simulations on a complex nonlinear full vehicle model, subject to critical driving situations, show the reliability and robustness of the GCC solution.
Patent•
4 Jan 2012
TL;DR: In this article, a fuzzy relation type system communication network of a chassis system is proposed for smooth running and control stability of a passenger car, which consists of seven sub-modules in total, namely an entire car module, a tire module, suspension module, steering module, an execution module, communication module and a coordination module respectively.
Abstract: The invention discloses a coordination method and control device for smooth running and control stability of a passenger car In the invention, a fuzzy relation type system communication network of a chassis system according to the fact that a structure of a chassis of the passenger car is divided into different independently controlled submodules The system communication network has seven submodules in total, namely an entire car module, a tire module, a suspension module, a steering module, an execution module, a communication module and a coordination module respectively, which are connected with other submodules through the communication module The coordination method disclosed by the invention comprises the steps of: sensing vehicle information through the entire car module; entering different control modes by the coordination module according to instructions of a driver; assigning different fuzzy weight values to all sub-priority control modules by the coordination module according to the different control modes, and combining feasible solutions returned by all the sub-priority control modules; and solving an optimal decision, and returning a result to the coordination module According to the coordination method and control device disclosed by the invention and specific to the problem of interference existing among an active suspension system, an active steering system and a tire system, the coordinated control of smooth running and control stability of the car is realized
Patent•
25 Sep 2012
TL;DR: In this article, a system for positioning crop windrow guide shields projecting generally rearwardly alongside the crop discharge stream as it exits an agricultural mower is presented, coupled for simultaneous, coordinated movement and repositioned by a powered actuator in response to either a manual input by a vehicle operator or automatically by a controller.
Abstract: A system for positioning crop windrow guide shields projecting generally rearwardly alongside the crop discharge stream as it exits an agricultural mower. The shields are coupled for simultaneous, coordinated movement and repositioned by a powered actuator in response to either a manual input by a vehicle operator or automatically by a controller based on a steering angle deflection between a tractor and a towed implement. The system may be adapted for use with a single implement being operated on a side hill to control windrow drifting. The system may also be used with simultaneously operated front-mounted and pull-behind mowers to direct the crop discharge streams into a merged windrow.
2 Jul 2012
TL;DR: In this article, the authors used multi-body simulations of a three-wheeled Narrow Tilting Vehicle performing an emergency lane change manoeuvre to show that the path followed by a Steering Tilt Control (STC) equipped vehicle in response to a given series of steer inputs differs significantly from that followed by DTC equipped vehicle.
Abstract: Narrow Tilting Vehicles offer an opportunity to reduce both traffic congestion and carbon emissions by having a small road footprint, low weight, and a small frontal area. Their narrow width requires that they tilt into corners to maintain stability; this may be achieved by means of an automated tilting system. Automated tilt control systems can be classed as Steering Tilt Control (STC) in which active control of the front wheel steer angle is used to maintain stability, Direct Tilt Control (DTC) in which some form of actuator is used to exert a moment between the tilting part(s) of the vehicle and a non-tilting base, or a combination of the two (SDTC). Combined SDTC systems have the potential to offer improved performance as, unlike STC systems, they are effective at low speeds whilst offering superior transient roll stability to DTC systems. However, alterations to the front wheel steer angle made by STC and SDTC systems may result in unwanted deviations from the driver’s intended path.This paper uses multi-body simulations of a three-wheeled Narrow Tilting Vehicle performing an emergency lane change manoeuvre to show that the path followed by a SDTC equipped vehicle in response to a given series of steer inputs differs significantly from that followed by a DTC equipped vehicle. It is also shown that by using a revised series of steer inputs, a vehicle equipped with SDTC is able to successfully follow a similar path to one equipped with DTC, and that the roll stability of the vehicle is not unduly compromised. Finally, the influence of higher DTC system gains on the SDTC system is considered. It is shown that the result is a small improvement in the vehicle’s path following response at the expense of a small reduction in vehicle roll stability.Copyright © 2012 by ASME
1 Mar 2012
TL;DR: In this paper, a multi-input multi-output (MIMO) robust road departure avoidance system based on a closed-loop driver decision estimator (DDE) is presented.
Abstract: In this article, a multi-input multi-output (MIMO) robust road departure avoidance system based on a closed-loop driver decision estimator (DDE) is presented. The main idea is that of incorporating the driver intent in the control of the vehicle. The driver decision estimator computes the vehicle look ahead lateral position based on driver input and uses this position to establish the risk of road departure. The MIMO controller uses the vehicle lateral position at the look ahead distance and yaw rate to calculate both the front steering angle and differential braking as the control efforts. The DDE ensures that the vehicle remains within the road borders without altering the vehicle response when the driver steers the vehicle back. It is shown that the use of both active steering and differential braking can stabilize the vehicle with shorter look ahead distances compared to the use of only steering. Numerical simulations show the effectiveness and robustness of the proposed approach in comparison with th...
TL;DR: An interactive wheeled vehicle simulator is described, consisting of a software application for simulating vehicle dynamics and presenting the results in virtual 3D environment, and a haptic interface, which is generally found to correspond well, making the system usable for studying vehicle performance and training its operators.
1 May 2012
TL;DR: In this article, active steering control system is designed and simulated in order to prevent and minimize any possible accidents due to lateral motion of vehicle, and activation and warning areas are defined for the control system with respect to the location of vehicle and parameters for vehicle dynamics.
Abstract: In recent days, vehicles have become equipped with electric system that assist and help drivers driving safe in highway. Lane Departure Warning and Lane Keeping Assistant System are one of those safe system. Sudden and inattentive lateral motion of vehicle due to drivers" fatigue, illness, inattention, and drowsiness are major causes of accidents in highway. In order to prevent and minimize any possible accidents due to lateral motion of vehicle, active steering control system is designed and simulated in this study. Activation and warning areas are defined for the control system with respect to the location of vehicle and parameters for vehicle dynamics. The current location of vehicle is obtained by Global Positioning System (GPS) and it can detect GPS-based lanes then determine whether activates or not.
TL;DR: The simulation results show that based on parametric optimization of the multi-objective genetic algorithm, the novel AFS system can improve the steering road feel, steering portability and steering stability, thus the optimization method can provide a theoretical basis for the design and optimization of this system.
Abstract: A novel active steering system with force and displacement coupled control (the novel AFS system) was introduced, which has functions of both the active steering and electric power steering. Based on the model of the novel AFS system and the vehicle three-degree of freedom system, the concept and quantitative formulas of the novel AFS system steering performance were proposed. The steering road feel and steering portability were set as the optimizing targets with the steering stability and steering portability as the constraint conditions. According to the features of constrained optimization of multi-variable function, a multi-variable genetic algorithm for the system parameter optimization was designed. The simulation results show that based on parametric optimization of the multi-objective genetic algorithm, the novel AFS system can improve the steering road feel, steering portability and steering stability, thus the optimization method can provide a theoretical basis for the design and optimization of the novel AFS system.
Patent•
24 Oct 2012
TL;DR: In this paper, a timely four-wheel drive (4WD) electric wheel automobile adaptive steering system and a control method are described. But the authors do not specify the control method of the system.
Abstract: The invention relates to a timely four-wheel drive (4WD) electric wheel automobile adaptive steering system and a control method thereof, and belongs to a 4WD electric wheel automobile differential power-assisted steering system. A steering clutch and a steering servo motor are arranged between a main steering pipe column and a rear steering pipe column, and a planetary gear mechanism is arrangedbetween the steering clutch and the steering servo motor, so that the timely 4WD electric wheel automobile adaptive steering system can realize adaptive selection of steering modes and a timely 4WD adaptive transmission-ratio-variable four-wheel differential power-assisted steering function on the basis of finishing the conventional electric wheel automobile differential power-assisted steering, and realizes transmission-ratio-variable control and active steering intervention.
TL;DR: In this article, a nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. But the proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties.
Abstract: Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.
TL;DR: In this article, a range extension control system based on the least squares method is proposed for electric vehicles with in-wheel motors and front active steering, which enables a reduction in the driving resistance generated because of the front steering angle.
Abstract: In this paper, the range extension control system based on the least squares method is proposed for electric vehicles with in-wheel motors and front active steering. We propose a method that distributes front and rear wheel sideslip angles and the difference in the driving force between the left and right motors because of the lateral force and yawmoment. The proposed method enables a reduction in the driving resistance generated because of the front steering angle. In fact, the mileage per charge is increased to about 200m/kWh. Simulations and experiments are carried out to confirm the effectiveness of the proposed method.
11 Jul 2012
TL;DR: In this paper, an advanced safety range-extension control system was proposed to improve the cruise range and vehicle stability on a curved road, and the effectiveness of the proposed method was verified via experimental results.
Abstract: Mileage per charge is a critical issue for electric vehicles. To solve this issue, we have proposed a range-extension control system. Although it is effective for increasing the mileage per charge, it can potentially decrease vehicle stability because a driving force difference between the left and right motors is generated. In this paper, we introduce an advanced safety range-extension control system. The proposed method improves not only the cruise range but also the vehicle stability on a curved road. The effectiveness of the proposed method is verified via experimental results.
Patent•
10 Oct 2012
TL;DR: In this article, an active electric power-assisting circulation ball type steering system was proposed for a medium/light passenger bus and a lorry, which can meet the requirements on lightness and high sensitivity at a low-speed steering process and on stable operation at a high speed steering process, but also has the characteristics of security, compact structure, low cost and the like.
Abstract: The invention relates to an active electric power-assisting circulation ball type steering system, comprising a steering column tube assembly, a screw rod moving device, a circulation ball type steering device, an electric power-assisting device and an automatic control module. A steering column tube is connected with the upper part of a screw rod of the circulation ball type steering device through a sliding spline, and the electric power-assisting device is connected with the lower part of the screw rod through a sliding spline; the screw rod moving device is sleeved on the screw rod; the screw rod has two motion freedoms; a freedom of rotating around the axis is controlled by a steering wheel; and the other freedom of moving along the axis is controlled by a screw rod moving control motor; a steering nut is moved by overlapping the effects of rotation and axial movement of the screw rod, so that a transmission ratio of the steering system is changed in real time, and the active steering is intervened. The steering system not only can meet the requirements on lightness and high sensitivity at a low-speed steering process and on stable operation at a high-speed steering process, but also has the characteristics of security, compact structure, low cost and the like. The active electric power-assisting circulation ball type steering system is applicable to a medium/light passenger bus and a lorry.
4 Mar 2012
TL;DR: In this article, a narrow electric vehicle has been designed and controlled by an active vehicle dynamics control system, which is equipped with four in-wheel traction motors, as well as four independently controlled steering systems.
Abstract: A narrow electric vehicle has been designed and controlled by an active vehicle dynamics control system. The proposed vehicle is equipped with four in-wheel traction motors, as well as four independently controlled steering systems. Simulation results show that the vehicle handling and road stability performances, mainly its overturning threshold, when compared with those expected from the non-tilting narrow vehicles, have been dramatically improved and the proposed vehicle behaves almost similar to that of a conventional one.
Patent•
13 Aug 2012
TL;DR: In this paper, a lane keeping assist system considering driver's range of view and steering tendency by speed is provided to minimize steering intervention of drivers at low speed zone in order to reduce sense of difference generated by excessiveness of corrected steering angle.
Abstract: PURPOSE: A lane keeping assist system considering driver's range of view and steering tendency by speed is provided to minimize steering intervention of drivers at low speed zone in order to reduce sense of difference generated by excessiveness of corrected steering angle. CONSTITUTION: A lane keeping assist system considering driver's range of view and steering tendency by speed comprises a camera/road lane recognition module(100), a controller for lane keeping(300) and an active steering module(200). The camera/road lane recognition module obtains the image of lane. The camera/road lane recognition module creates the lane information through an image processing. The controller for lane keeping is based on the lane information and velocity information of vehicles. The controller for keeping lane presumes the predict deviation amount in order to produce the corrective steering angle information. The controller for lane keeping creates the information of the correction steering intervention visual point. The active steering module is based on the correction steering angle information and the correction steering intervention visual point information.
Patent•
28 Nov 2012
TL;DR: In this paper, the authors used a sensor fusion technique to combine the useful information from the radar, vision and ultrasonic sensors available for side blind spot detection, rear view, rear virtual bumper, and rear parking assist.
Abstract: The invention relates to Trailer articulation angle estimation. This invention takes the advantage of existing radar, vision and ultrasonic sensors available for side blind spot detection, rear view, rear virtual bumper, and rear parking assist. Using a sensor fusion technique to combine the useful information from these sensors, the trailer articulation angles as well as trailer track width and tongue length is accurately estimated. When an active steering system is present, vehicle and trailer can be controlled with increased stability by applying the trailer information.
Patent•
1 Feb 2012
TL;DR: In this paper, a decoupling control method applied to an automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system is described, where the decoupled control on the mass centre sideslip angle and the yaw velocity of an automobile provided with an AFS and ESP is realized.
Abstract: The invention discloses a decoupling control method applied to an automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system. A controlled original system 5 is composed of a complete automobile system 3 including an active steering system 1 and a brake system 2, and an ESP execution mechanism control module 4; according to the dynamic characteristics of the controlled original system 5, a dynamic inverse system 8 of the controlled original system 5 is constructed by utilizing a static neural network 6 and an integrator 7; the inverse system 8 is connected in series in the front of the controlled original system 5 to form a compound controlled system 13, so that two control channel mutual decoupling sub-systems are formed; a closed loop controller 11 (an AFS controller, an ESP controller) of the compound controlled system 13 is designed according to two circuits of output signal values of a signal detection module 16 and the deviation between the values and expected values respectively; the closed loop controller 11 is connected in series in the front of the inverse system 8 together to form a decoupling controller 12 of the AFS and ESP integrated system; the decoupling control on the mass centre sideslip angle and the yaw velocity of an automobile provided with an AFS and an ESP is realized; furthermore, the method is widely applied.
3 Jun 2012
TL;DR: In order to prevent and minimize any possible accidents due to lateral motion of vehicle, active steering control system is designed and simulated in this study.
Abstract: In recent days, vehicles have become equipped with electric system that assist and help drivers driving safe in highway. Lane Departure Warning and Lane Keeping Assistant System are one of those safe system. Sudden and inattentive lateral motion of vehicle due to drivers' fatigue, illness, inattention, and drowsiness are major causes of accidents in highway. In order to prevent and minimize any possible accidents due to lateral motion of vehicle, active steering control system is designed and simulated in this study. Activation and warning areas are defined for the control system with respect to the location of vehicle and parameters for vehicle dynamics. The current location of vehicle is obtained by Differential Global Positioning System (DGPS) and it can detect DGPS-based lanes then determine whether activates or not.