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4th International Conference on Smart City Applications (SCA)

作者： Lavanya, G. Priya, M. Deva Balamurugan, A. Malar, A. Christy Jeba Sri Krishna Coll Technol Dept Informat Technol Coimbatore Tamil Nadu India Sri Krishna Coll Technol Dept Comp Sci & Engn Coimbatore Tamil Nadu India

ISBN: (纸本)9781450362894

Throttle and brake control system implemented as an Anti-braking system with several modes of operation during normal and emergency conditions is available. However, using an intelligent system to support seamless motion of physically challenged people and senior citizens in heavy traffic is an emerging area of research. In this paper, an intelligent vehicle control system with adaptive throttle and brake control is proposed. A self-controlled and self-managed vehicle for physically disabled using various sensors and Raspberry Pi controller is developed. The adaptive model controls the throttle valve using motor based Proportional-Derivative (PD) control. It uses high torque servo motors to pull the brake pedal to the desired level using automated torque control. Firmware is implemented to integrate the brake and the speed control using Rule-based algorithms that function based on the sensed traffic surroundings at high accuracy without jerk and steady-state error. A brake test is performed to examine the performance of the proposed model under loaded conditions of the support vehicle. The proposed model yields better results in contrast to the existing ones.

关键词： Throttle control brake control Cruise control Raspberry Pi controller Traffic monitoring

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Understanding the Actuation Point Stiffness of Electromechanical Drum brakes

SAE INTERNATIONAL JOURNAL OF PASSENGER VEHICLE SYSTEMS

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SAE INTERNATIONAL JOURNAL OF PASSENGER VEHICLE SYSTEMS 2025年第1期18卷 17-30页

作者： Peter, Simon Janhsen, Michael Stuemke, Daniel Goerges, Daniel Robert Bosch GmbH Corp Res Vehicle Mechatron D-71272 Gerlingen Schillerhohe Germany RPTU Kaiserslautern Kaiserslautern Germany

Electromechanically actuated drum brakes are one interesting option for the realization of brakeby-wire systems for future electric vehicles. A key characteristic for the design and control of electromechanical brake actuators is the actuation point stiffness, as this quantity relates the actuation force to the required actuator position. The various known approaches for the control of electromechanical brakes, which primarily focus on disc foundation brakes, typically rely on the stiffness curve at least to some extent. A transfer of these approaches to drum brakes is not straightforward, because the actuation point stiffness for drum brakes is much more complex compared to disc brakes. In particular, a strong hysteretic behavior is observed for the standing drum and a considerable change of the stiffness and hysteresis can be observed for the rotating drum. Although drum brakes have been used for decades these effects have not been thoroughly discussed in literature, yet. Hence, this article proposes a minimal model, which gives a fundamental understanding of the stiffness characteristics of drum brakes. The relation to measured stiffness curves is discussed in detail to provide an in-depth understanding of the drum brake behavior. Additionally, prospect is given to a reduced complexity model that is suitable for online identification and control.

关键词： brake systems Drum brakes Electromechanical EMB brake control

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The effect of an occlusion-induced delay on braking behavior in critical situations: A driving simulator study

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HUMAN FACTORS 2023年第7期65卷 1336-1344页

作者： de Winter, Joost C. F. Saffarian, Mehdi Senders, John W. Delft Univ Technol Cognit Robot Mekelweg 2 NL-2628 CD Delft Netherlands Univ Toronto Dept Mech & Ind Engn Toronto ON Canada

Objective To share results of an experiment that used visual occlusion for a new purpose: inducing a waiting time. Background Senders was a leading figure in human factors. In his research on the visual demands of driving, he used occlusion techniques. Methods In a simulator experiment, we examined how drivers brake for different levels of urgency and different visual conditions. In three blocks (1 = brake lights, 2 = no brake lights, 3 = occlusion), drivers followed a vehicle at 13.4 or 33.4 m distance. At certain moments, the lead vehicle decelerated moderately (1.7 m/s(2)) or strongly (6.5 m/s(2)). In the occlusion condition, the screens blanked for 0.4 s (if 6.5 m/s(2)) or 2.0 s (if 1.7 m/s(2)) when the lead vehicle started to decelerate. Participants were instructed to brake only after the occlusion ended. Results The lack of brake lights caused a delayed response. In the occlusion condition, drivers adapted to the instructed late braking by braking harder. However, adaptation was not always possible: In the most urgent condition, most participants collided with the lead vehicle because the ego-vehicle's deceleration limits were reached. In non-urgent conditions, some drivers braked unnecessarily hard. Furthermore, while waiting until the occlusion cleared, some drivers lightly touched the brake pedal. Conclusion This experimental design demonstrates how drivers (sometimes fail to) adjust their braking behavior to the criticality of the situation. Application The phenomena of biomechanical readiness and (inappropriate) dosing of the brake pedal may be relevant to safety, traffic flow, and ADAS design.

关键词： brake lights brake control occlusion emergency braking

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Mitigation of transient torque reversals in indirect drive wind turbine drivetrains

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WIND ENERGY 2023年第8期26卷 803-825页

作者： Sarkar, Saptarshi Johansson, Hakan Berbyuk, Viktor Chalmers Univ Technol Dept Mech & Maritime Sci Gothenburg Sweden

Bearing failure in wind turbine gearboxes is one of the significant sources of downtime. While it is well-known that bearing failures cause the largest downtime, the failure cause(s) is often elusive. The bearings are designed to satisfy their rolling contact fatigue (RCF) life. However, they often undergo sudden and rapid failure within a few years of operation. It is well-known that these premature failures are attributed to surface damages such as white surface flaking (WSF), white etching cracks (WECs) and axial cracks. In that regard, transient torque reversals (TTRs) in the drivetrain have emerged as one of the primary triggers of surface damage, as explained in this paper. The risk associated with TTRs motivates the need to mitigate TTRs arising in the drivetrain due to various transient events. This paper investigates three TTR mitigation methods. First, two existing devices, namely, the torsional tuned mass damper and the asymmetric torque limiter, are studied to demonstrate their TTR mitigation capabilities. Then, a novel idea of open-loop high-speed shaft mechanical brake control is proposed. The results presented here show that while the torsional tuned mass damper and the asymmetric torque limiter can improve the torsional vibration characteristics of the drivetrain, they cannot mitigate TTRs in terms of eliminating the bearing slip risk associated with TTRs. However, the novel approach proposed here can mitigate TTRs both in terms of improving the torque characteristic in the high-speed shaft and reducing the risk of bearing slip by actuating the high-speed shaft brake at the onset of the transient event. Furthermore, the control method is capable of mitigating TTRs with the mechanical limitations of a pneumatic actuator in terms of bandwidth and initial dead time applied to it. This novel approach allows the wind turbines to protect the gearbox bearings from TTRs using the existing hardware on the turbine.

关键词： asymmetric torque limiter brake control SIMPACK gearbox model torsional tuned mass damper transient torque reversals wind turbine

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brake-by-Wire System Redundancy Concept for the Double Point of Failure Scenario

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SAE INTERNATIONAL JOURNAL OF VEHICLE DYNAMICS STABILITY AND NVH 2023年第3期7卷 329-341页

作者： Schlimme, Hauke Christian Henze, Roman Volkswagen AG Wolfsburg Germany Tech Univ Carolo Wilhelmina Braunschweig Inst Fahrzeugtech Braunschweig Germany

brake-by-wire (BbW) systems are one key technology in modern vehicles. Due to their great potential in the areas of energy efficiency and automated driving, they receive more and more attention nowadays. However, increased complexity and reliance on electric and electrical components in BbW systems bring about new challenges. This applies in particular to the fault tolerance of the brake system. Since drivers cannot form a fallback layer of braking functions due to the mechanical decoupling of the brake pedal, known BbW concepts provide a redundant system layer. However, driving is significantly limited in the event of a failure in the BbW system and is only possible under certain restrictions. The reason for that is a further possible failure (double point of failure scenario), which can result in a significant loss of braking performance. To improve the availability level of the braking functions, a principally new redundancy concept for the double point of failure scenario is presented. This allows for a less restricted driving operation when the BbW system is subject to failures. For this purpose, a central electric motor (CEM) and modified electronic parking brake (EPB) actuators are used on the front axle of a vehicle to form a separate redundancy layer. Strategies for deceleration and wheel slip control are developed for the individual actuators as well as for their simultaneous operation. The performance of the different brake modes is evaluated in road tests. The analysis shows that especially the combined operating mode of the CEM and EPB leads to high deceleration levels and robust operation in low road friction conditions.

关键词： brake-by-wire Vehicle dynamics Fault tolerance Functional safety Automated driving Electric vehicle brake control Wheel slip control Electronic parking brake Electric motor

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An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2022年第4期236卷 676-688页

作者： Gaurkar, Pavel Vijay Ramakrushnan, Karthik Challa, Akhil Subramanian, Shankar C. Vivekanandan, Gunasekaran Sivaram, Sriram Indian Inst Technol Madras Dept Engn Design Chennai 600036 Tamil Nadu India Madras Engn Ind Pvt Ltd Chennai Tamil Nadu India

Knowledge of the tyre-road interface traction limit during braking of a road vehicle can drastically improve safety and ensure stable braking on varied road conditions. This study proposes an optimal reference slip algorithm that determines the road surface while the vehicle is braking, by implicitly tracking the traction limit. It presents wheel slip variance regulation as a potential approach towards reference wheel slip estimation for wheel slip regulation (WSR). The variance regulation approach computes reference wheel slip using past wheel slip estimates and regulates wheel slip variation at a set point. This variance regulation problem was solved using least-squares estimation, yielding reference slip dynamics. A 3-staged nested control architecture was developed with reference slip dynamics to yield an anti-lock braking system (ABS) algorithm consisting of a brake controller, WSR algorithm and reference slip estimation. The algorithm was experimentally corroborated in a Hardware-in-Loop setup consisting of the pneumatic brake system of a heavy commercial road vehicle, and IPG TruckMaker(R), a vehicle dynamics simulation software. The proposed ABS algorithm was tested on straight roads with homogeneous surfaces, split friction surfaces, and transition friction surfaces. It ensured stable braking in all road cases, with a 7%-18% reduction in braking distance on homogeneous road surfaces compared to the same vehicle without ABS. The vehicle directional stability was retained on a split-friction surface, and the ABS algorithm was observed to adapt to sudden transitions in the road surface.

关键词： Anti-lock braking system brake control estimation reference wheel slip vehicle safety wheel slip regulation

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Two Degrees of Freedom Slip controller with Lateral Torque Distribution 21st

Two Degrees of Freedom Slip Controller with Lateral Torque D...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Degel, Wolfgang Lupberger, Stefan Odenthal, Dirk Bajcinca, Naim BMW M GmbH D-85748 Garching Germany Univ Kaiserslautern Chair Mechatron Mech & Automot Engn D-67663 Kaiserslautern Germany

Current slip control systems focus on vehicles with single-axle drive or all-wheel drive. This work presents a new two degrees of freedom slip controller affecting the average wheel speed and the wheel speed difference between the left and right wheel of a driven axle. The approach is applicable for electronically controlled limited-slip differentials and individually controllable brake actuators. The control design is performed with input-output linearization and global stability in the sense of Lyapunov is proven for the zero dynamics. The proposed control system is evaluated in a prototype vehicle and fulfills the task of traction control. Copyright (C) 2020 The Authors.

关键词： Automotive control slip control input-ouptut linearization stability of nonlinear systems limited-slip differential brake control

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A Feedforward controller Design for Lane Keep Assist Through Differential Braking Force 26th

A Feedforward Controller Design for Lane Keep Assist Through...

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26th Symposium of the International Association of Vehicle System Dynamics (IAVSD)

作者： Ito, Hironori Nagae, Akira Ikeda, Masayuki Inomata, Ryo Toyota Res Inst Adv Dev Inc Tokyo Japan Toyota Motor Co Ltd Toyota Aichi Japan

ISBN: (纸本)9783030380779;9783030380762

This paper proposes a control design method for Lane Keep Assist (LKA) systems though differential braking force. By obtaining the time response to equation of motion for a two-wheeled model and simplifying the exponential term, it was determined that yaw rate and yaw moment are proportional to each other. Subject to the ignored terms in order to simplify the equation, we cover an unfollowed handling as well. As the result of the simplification, it demonstrates a control method to achieve any target trajectory. The results of simulations and experiments also verify the effectiveness of this method. Within the vehicle parameters we also focus on tire cornering power to examine the differences between steering control and braking control.

关键词： LKA Vehicle dynamics Feedforward control brake control

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control Allocation for Hybrid Braking Considering Dynamic Battery Behaviour 21st

Control Allocation for Hybrid Braking Considering Dynamic Ba...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Lupberger, Stefan Degel, Wolfgang Odenthal, Dirk Bajcinca, Naim BMW M GmbH Daimlerstr 19 D-85748 Garching Germany Univ Kaiserslautern Dept Mechatron Mech & Automot Engn Postfach 3049 D-67663 Kaiserslautern Germany

This work deals with the problem of maximizing energy recovery while optimizing braking capability of high-performance electric vehicles under given actuator constraints. A scalable, real-time capable concept using a complementary filter with an additional daisy chain for the control allocation between hydraulic brakes and electric motors is proposed. Furthermore, a model inversion approach that derives necessary battery limits while trying to decouple the wheel speed control loop from the protection loop of a modern battery management system is described. The hybrid braking control architecture is studied in simulation and validated in a prototype electric vehicle by highly dynamical driving manoeuvres. Copyright (C) 2020 The Authors.

关键词： Automotive control electric vehicles control allocation brake control decoupling

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Braking torque distribution for hybrid electric vehicles based on nonlinear disturbance observer

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2019年第13期233卷 3327-3341页

作者： Zhao, Xiuchun Guo, Ge Dalian Univ Technol Sch Control Sci & Engn Dalian Peoples R China Dalian Minzu Univ Coll Electromech Engn Dalian Peoples R China Northeastern Univ State Key Lab Proc Ind Automat Shenyang Liaoning Peoples R China Northeastern Univ Qinhuangdao Sch Control Engn Qinhuangdao 066004 Hebei Peoples R China

This article develops a two-layer brake control framework for hybrid electric vehicles equipped with both hydraulic and regenerative braking systems. In order to obtain better braking performance and higher regenerative braking efficiency, a cooperative braking control strategy is presented. In the first layer, a simple but robust brake controller is proposed to overcome the uncertainties of road condition and load variation by introducing a nonlinear disturbance observer. The convergence and stability are proved through the Lyapunov theory. In the second layer, a novel braking torque distribution strategy is proposed based on battery state of charge, which can recover more braking energy and improve the health of the battery. By simulation, the braking strategy is proved to be effective under various conditions and it shows a good compromise between the battery state of charge health and the regenerated energy recovery.

关键词： Hybrid electric vehicles brake control wheel slip ratio braking torque distribution road condition observer

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