The intent of this article is to present a methodology that deals with steering/braking coordination task, for automotive vehicle yaw control scheme. Because of the tire nonlinearity that is mainly due to the saturati...
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ISBN:
(纸本)9789633130582
The intent of this article is to present a methodology that deals with steering/braking coordination task, for automotive vehicle yaw control scheme. Because of the tire nonlinearity that is mainly due to the saturation of cornering forces, vehicle handling performance is improved but limited to a certain extent only by steering control. Direct yaw moment control using braking forces is effective not only in the linear region but also in the nonlinear ranges of the tire friction circle. However, braking effect is not desirable in normal driving situations. Consequently, the maximum benefit is gained through the coordinated and combined use of both steering and braking control methods. In this study, the coordination task is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller, where braking control is activated only when the vehicle reaches the handling limits. The controller is synthetized within the LMI framework, while ensuring linear optimal H∞ performances. computer simulations, carried out on a complex full vehicle model subject to critical driving situations, show that the vehicle handling is much improved by the integrated control system compared against an uncontrolled vehicle.
The paper presents the design of an integrated vehicle tracking system which includes power-Train, active suspension, brake and steering components. The purpose of the research is to design an integrated vehicle contr...
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ISBN:
(纸本)9789633130582
The paper presents the design of an integrated vehicle tracking system which includes power-Train, active suspension, brake and steering components. The purpose of the research is to design an integrated vehicle control system with the aim of keeping the distance from a leader vehicle and tracking the yaw motion. First, a model of a vehicle which handles the effects of road irregularities and aerodynamic forces is formalized. Then an integrated vehicle tracking system based on a robust control method is designed. Since in the controller several actuators work in cooperation, a balance must be achieved between them. The operation of the controlled system is illustrated through simulation examples.
The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex com...
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Decomposition and segmentation of the objects represented by point cloud data become increasingly important for purposes like shape analysis and object recognition. In this paper, we propose a perception based approac...
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Model based design methodology is increasingly being used in the development of software for embedded controllers for safety class applications. SCADE Suite is a set of tools that support model based design of softwar...
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Selecting the optimal parameters of the Support Vector Machines (SVM) is very important in practice. This paper detailedly analyzes the effects given by the Radial Basis Function (RBF) kernel parameter on the feature ...
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The Youla-parametrization is a useful method and widely applied to design controllers for open-loop stable single-input-singe-output (SISO) plants. The KB-parametrization is a successful extension of this method for t...
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ISBN:
(纸本)9781846000386
The Youla-parametrization is a useful method and widely applied to design controllers for open-loop stable single-input-singe-output (SISO) plants. The KB-parametrization is a successful extension of this method for two-degree-of freedom (2DOF) systems. The paper extends this methodology for multivariable case.
In this paper, we present a computationally ef-ficient and robust lane detection algorithm based on Hough transform. The proposed method first extracts lane markings by applying 1D ridge detector to each row of an ima...
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In this paper, an online BP neural network (BPNN) compensate control scheme based on inverse system method is presented for a class of single-input-single- output nonlinear systems. Firstly, the error between the a-th...
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Due to the gradual increasing of spam's harm to the society, the anti-spam technology has been the focus of attention of all sectors. In this paper, we bring forward the Bayesian filter technology based on Anti-Sp...
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