Dynamic Control and Simulation of Leader-follower Vehicle Formation Considering Vehicle Stability

Seungho Han,Minseong Choi,Minsu Cho,Kyung-Soo Kim,Ji-il Park 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9

In this letter, a control strategy comprising velocity and yaw rate controllers is proposed for a real fourwheel vehicle in a leader-follower formation when the leader vehicle drives at high speed, i.e., 100 km/h. Since vehicle stability plays an increasingly important role as speed increases, vehicle dynamics must be considered in vehicle formation control. Therefore, to increase the accuracy of the formation geometric model, bicycle modelbased leader-follower formation models are suggested, which are denoted as the follower (F) bicycle model and the leader-follower (LF) bicycle model. Then, the velocity and yaw rate control of the follower vehicle is designed. In addition, vehicle longitudinal and wheel dynamic models are considered in the velocity control to generate the wheel torque. Finally, the control gains are determined under conditions that satisfy the Routh-Hurwitz stability criterion, which guarantees the stability of the vehicle simplified as a first-order lag model. The performance of the proposed leader-follower bicycle model and controllers are strictly demonstrated by implementing vehicle dynamics simulations in cases when vehicles in a formation drive at high speeds. The simulation results confirm that the suggested formation control strategy can be applied to real four-wheel vehicles under high-speed conditions on various types of paths, in comparison with the unicycle model-based formation shape model.

차량 성능시험을 위한 Autopilot Simulator 설계 및 제작

조정대(Jeongdai Jo),김광영(K. Y. Kim),김동수(D. S. Kim),최병오(B. O. Choi),김도식(D. S. Kim) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-

The Lab. simulator for conducting a performance test and a reliability test on a vehicle and components has been designed and embodied. In order to control non-linear of a vehicle, a fuzzy control algorithm, a running mode tracking algorithm and a vehicle speed control algorithm were applied to the actuator control. The vehicle controller functions were implemented; setup of the actuator, position control, the gear shift control depending upon the vehicle RPM, the serial interface function for data communication and control with the servo controller, and transmitting and receiving data. The servo controller performed the function to drive the actuator by controlling the pneumatic servo valve, and measured data information such as a position, a velocity and an acceleration as obtained through operation by means of the second differentiator and controlled a position precisely. An experimental apparatus was consisted of a dynamometer and a vehicle, and the performance and durability of the controller was verified. The Lab. simulator was mounted onto the vehicle, and the position control test and a LAP mode tracking test were conducted. It was found that the response characteristic, the tracking capability and precision of the position control were so excellent.

Vehicle Tests of a Longitudinal Control Law for Application to Stop-and-Go Cruise Control

Moon, Ilki,Yi, Kyongsu The Korean Society of Mechanical Engineers 2002 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.16 No.9

This paper presents the implementation and vehicle tests of a vehicle longitudinal control scheme for Stop and Go cruise control. The control scheme consists of a vehicle-to-vehicle distance control algorithm and throttle/brake control algorithm for acceleration tracking. The desired acceleration of a vehicle for vehicle-to-vehicle distance control has been designed using Linear Quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. A millimeter wave radar sensor has been used for distance measurement. A stepper motor and an electronic vacuum booster have been used for throttle/brake actuators, respectively. It has been shown that the proposed control algorithm can provide satisfactory performance.

Investigation Of Coupling Effect Between Steering Wheel Input And Suspension System For Vehicle Attitude Control

Rodrigue Tchamna,Iljoong Youn 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11

Realistic models for ground vehicle attitude control need to take into account coupling effect between steering wheel input and suspension system. Control design based on vehicle models such as bicycle models can work for small operation range, but can become critical when the effects of suspension become important. This paper deals with investigation of coupling effect between steering wheel input and suspension system and the result of those effects on the orientation of the vehicle. The goal of this investigation being effective control designing for attitude control of the vehicle. Most of control methods nowadays employed for attitude control of vehicles are active anti-roll bars, active steering and electronic brake mechanism. In this paper, only vertical actuators locating on each suspension are used to control the attitude of the vehicle due to any given steering input during cornering. The resulting model is a set of highly nonlinear equations that allow studying deeply all aspect of vehicle dynamics, including ride comfort, handling, road holding, and attitude control of the chassis during straight path motion as well as cornering. The model developed here is 15 degrees of freedoms (d.o.f.) model, 6 d.o.f. for the chassis, 2 × 4 d.o.f. for each of the four wheels and 1 d.o.f. for the steering wheel. A controller is designed and simulations are carried out.

차량안정성제어를 위한 제동장치와 구동장치간의 협조제어

황정엽(Jeongyeop Hwang),이형철(Hyeongcheol Lee),김정훈(Jeonghun Kim),곽병학(Byunghak Kwak) 한국자동차공학회 2007 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

The behavior of a vehicle is strongly influenced by the distribution of driving and braking torques in four wheels. Therefore, traction and stability characteristics of a vehicle can be controlled by the controlling driveline and the braking torques. However, independent and uncoordinated control of the brake and driveline control system can harm the vehicle performance due to the interference between two devices. So, the vehicle equipped with both the brake control system and the drive line control system requires a coordinated control of both systems to reduce the bad interference and to maximize vehicle performance. This paper presents the procedure of the coordinated control design of the brake and driveline control systems. The 3 degree of freedom (DOF) vehicle model and the driveline model including torque biasing devices are developed. Each control algorithm for the ESP and the coupling (the target torque biasing device) are developed based on the models. Finally, the coordinated control is designed to maximize the yaw stability of the vehicle. The developed models and the control algorithms are programmed using Matlab/Simulink and verified by co-simulation with a commercial vehicle simulation tool, CarSim.

전기이륜차용 차량제어시스템 개발에 대한 연구

김상훈(Sanghoon Kim),곽인재(Injae Kwak),변세희(Sehee Byun),김대우(Daewoo Kim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

This study relates to the design of a vehicle control system for controlling an electric two-wheeler system with a drive device operating at a high voltage. In recent years, Micro-mobility has been gaining traction as the new means of mobility of the future, and it is expected that in the future the adoption of short-range use or non-owned shared vehicles in the mobility market will expand. Among the micro-mobility, electric two-wheelers are eco-friendly and economical, and in addition to this, vehicle sharing must be accompanied by a battery exchange system and data-based services. In this case, the electric two-wheeler system generally consists of 5 sub-systems : the powertrain system, the energy management system, the cooling system, the vehicle control system, and the connectivity system. In order to control such an electric two-wheeler system, it is necessary to design an appropriate system platform for the element system to be controlled and a design process for each controller. In this paper, we have focused on designing a control system architecture and control method to ensure that the control is done appropriately from the perspective that the vehicle control system, which is the top-level controller, views the subsystem as the object of control. The sub-control modules of the vehicle control system were constituted and the functional elements of each module were defined to enable organic cooperative control between the control objects through architectural design and verification according to the V-Process. This is expected to improve the productivity and quality of more diverse and complex electric two-wheeler systems.

Advanced Longitudinal and Lateral Stability Control System for a Four-Wheel-Independent-Drive Electric Vehicle Using a New Power Converter Topology

Mankour Mohamed,Mohammed Chikouche Tarik,Kada Hartani,Adda Benkhalfallah,Norediene Aouadj 대한전기학회 2023 Journal of Electrical Engineering & Technology Vol.18 No.3

This work develops an advanced control system to improve the handling, comfort, and longitudinal and lateral stability of a four-wheel-independent-drive electric vehicle, based on the combination of longitudinal and lateral control. Firstly, to avoid the wheels from slipping or locking when accelerating or braking a longitudinal control combining traction and braking control is proposed. The coordinated ASR/ABS control can operate as an acceleration slip regulation (ASR) by preventing the wheels from slipping during acceleration and as an antilock braking system (ABS) by preventing the wheels from locking during braking by adjusting the electric motor torques dynamically. Secondly, to stabilize the lateral movement of the vehicle in severe turns, a lateral vehicle dynamic control combining direct yaw control and active front steering is designed. The advanced control system uses the fast and precise torque of the electric motors transmitted directly to the wheels. The originality of the present work is the use of a new power converter topology to simultaneously supply the four in-wheel motors, simplifying the architecture of the electric vehicle design and control laws. The configuration of the electric vehicle studied allows the in-wheel motors to turn at identical or different speeds by imposing an independent control on each drive wheel. Finally, and in order to diminish the torque ripple, provide better speed tracking performance, and achieve a high-performance torque control for the electric vehicle with interior permanent magnet synchronous in-wheel motors, the fuzzy SVM-DTC strategy is proposed to be utilized. Numerical simulations using Matlab/Simulink software were carried out under diverse driving situations of a four-wheel-independent-drive electric vehicle, highlighting the robustness of the control techniques developed by means of the new topology of the power converter.

PREDICTIVE CONTROL OF A VEHICLE TRAJECTORY USING A COUPLED VECTOR WITH VEHICLE VELOCITY AND SIDESLIP ANGLE

이정한,유완석 한국자동차공학회 2009 International journal of automotive technology Vol.10 No.2

In this paper, a predictive algorithm for vehicle trajectory control using the vehicle velocity and sideslip angle is proposed. Since the driving state of a vehicle generates nonholonomic constraint equations, it is difficult to control the trajectory with a conventional control algorithm. Furthermore, control vectors such as vehicle velocity and sideslip angle are coupled together; hence, a separate control for each variable is not suitable. In this study, a coupled control vector that combines the velocity and sideslip angle is proposed for the predictive control of vehicle trajectory. Since the coupled control vector is derived from the status of the vehicle’s motion, it is easy to generate a feedback control vector for the predictive controller. The coupled vector cannot be directly used as input to the vehicle systems; therefore, the vehicle input vector should be calculated from the control vector using a nonlinear function. Since nonlinear functions are not inserted in the control loop, they are calculated by the controller. Therefore, this method does not require a linearization process in the control logic, which enhances the stability and accuracy of the predictive controller.

트레일러를 장착한 차량의 Neutral Sway 감쇠를 위한 Yaw Moment 제에 관한 연구

이종일(Jongil Lee),이강원(Kwangwon Lee),오승규(Seungkyu Oh),노지훈(Jihoon Roh),김영우(Youngwoo Kim),김형수(Hyoungsoo Kim),김인동(Indong Kim),장진희(Jinhee Jang) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

In this paper, the development of yaw moment control algorithm is studied to reduce neutral sway response of vehicle with trailer. Generally, trailer has been changed the dynamic characteristics of that vehicle. The changed dynamic characteristics affected include rotation about the yaw axes and transitions in the lateral direction. Due to kinematic constraints of trailer with vehicle, the response of vehicle presents unstable and nonlinear characteristics. To improve vehicle stability, the yaw moment controller is proposed in this paper. The 3-DOF vehicle model with trailer is representing to estimate the vehicle characteristics, and the yaw moment controller is implemented using simplified 3-DOF Vehicle model. In this study, the yaw moment controller is proposed to reduce neutral sway response of vehicle with trailer. Due to changing of vehicle dynamic characteristics with the yaw moment controller, it is required to validate the stability of vehicle-trailer through SAE J2664. SAE J2664 is standard test procedure that is proposed evaluation method of natural sway response of a particular trailer. The simulation result shows the response of vehicle-trailer with proposed the yaw moment controller. As conclusion, the yaw moment controller with 3-DOF model is proposed and evaluated through J2664. In addition, the simplified yaw moment controller is proposed for improving vehicle-trailer stability.

차량의 동적 성능 향상을 위한 Active Roll Control Stabilizer Bar와 Continuous Damping Control의 통합 제어에 대한 연구 Part Ⅱ

이강원(Kangwon Lee),이종일(Jongil Lee),김영우(Youngwoo Kim),오승규(Seungkyu Oh),노지훈(Jihoon Roh),정명철(Myoungchul Jung),김인동(Indong Kim),장진희(Jinhee Jnag) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

Generally, the vehicle dynamics performance is influenced each chassis subsystem with some trade-off relations. One of the systems is a suspension system that related vehicle ride and handling performance. Especially the roll stiffness tendency of a vehicle can be significantly changed, if the suspension component is actively controlled. This study is presented the Active Roll Control Stabilizer Bar System (ARC) for improving of the vehicle roll motion and vehicle dynamic performance by control of roll stiffness distribution. This paper describes a fundamental understanding of the theory and application of the ARC system analysis. Based on the study on ARC, we can make a proposal on the integrated control system using Continuous Damping Control (CDC) and Active Roll Control stabilizer bar (ARC). This research arranges and defines the ARC functionality and performance limits, then shows how to improve such a limit using by CDC (Continuous Damping Control) on the vehicle performance with ARC system. Finally, this paper proposes the vehicle dynamics performance integration control strategy and show the synergy effect through the integrated control vehicle simulation.