On Control Laws for Vehicle Suspensions Accounting for Input Correlations

Input correlations involving time delays are common in active vehicle suspension system problems. One approach to control law derivation fur such systems is to restrict attention to slate feedback laws in the interests of practicality and it is then of interest to determine the law which is, in some sense, the best. Under assumptions which are common in this area. relating to input, system and cost Function forms, a new derivation of the expression for the cost, accounting for time delays, is given. The use of the expression in numerical procedures for determining effective control gains is discussed and an example for a half car planar vehicle model is described. By comparing results with existing ones which are truly optimal, an estimate is made of the loss of performance which results from the restriction of the control law form in this case. Some generalisation of the results is attempted and they are placed in a contemporary context at the conclusion.     

小型突发事件场景下的应急车辆优先通行策略研究

对于高峰期发生的小型突发事件, 应急车辆优先通行可能对路网造成强负外部性, 同时为保证应急车辆优先通行而采取的信号协调策略可能导致路径选择不可靠。因此, 提出1种基于双层规划模型的应急车辆优先通行策略, 综合考虑应急车辆的时效性以及交通系统的运行效率。路径选择受路径长度等物理条件以及交通状态的影响, 信号控制改变车道通行能力和上下游流量, 进而改变路网状态。以车道组饱和度作为表征路网状态的参数, 并以此联系路径选择与信号控制, 进而构建应急车辆优先通行的双层规划模型。具体地, 上层目标为应急车辆行程时间最短以保证应急车辆出行的时效性, 下层目标为信号控制对交通系统的社会车辆效益最大, 采用改进的前N条最短路径多重标号算法求解。算例结果表明: 相较于传统方案, 应急车辆行程时间增加8.7%, 对社会车辆的延误降低261%, 即应急车辆每降低1%的行程时间以交通系统增加30%的延误为代价。该方案能够以较小的应急车辆延误为代价降低高峰期交通系统较大的延误。      

Experimental Study of System Optimization for Suppression of Vehicle Vibration

SUMMARY

The improvements of ride comfort and vehicle maneuverability in the vehicle design can be achieved by using an active suspension. However, the problems in such a control are the complex control logic because of the control laws incompatible with the improvements of ride comfort and maneuverability, and the cost increase because of various sensors to be attached. Therefore, we examined the control abilities of ride comfort and maneuverability on a unique control law using frequency shaped LQ, and controlled the characteristic of the contact between tire and road without a road displacement sensor     

H 2 optimal control of disturbance-delayed systems with application to vehicle suspensions

Optimal control of systems with time delays among disturbances, such as vehicle suspensions, is a relatively simple but long-standing problem in time-delayed control. We consider the exact H ₂ optimal control of systems with time-delayed disturbances and develop a computationally efficient approach for controller synthesis. We extend the Lyapunov-based H ₂ norm computation to systems with time-delayed disturbances and then derive a concise formula to explicitly evaluate the sensitivity of the system H ₂ norm with respect to controller gains. Thence, a set of necessary conditions for H ₂ optimal control of such systems using static output feedback are obtained in the form of algebraic equations. Gradient-based methods are adapted to optimize the controller gains. The method is also extended to reduced-order and decentralized control. As an application, a passive suspension system for an eight-DOF four-wheel vehicle is designed via structured H ₂ optimization. The results are compared with those of a design based on a Pade expansion for the time delays and a design obtained by neglecting the disturbance delays.     

A Procedure for Optimization of Truck Suspensions

SUMMARY

The purpose of this paper is to develop a procedure based on covariance analysis and nonlinear programming techniques which can be used for the parameter selection of optimum truck suspensions. The procedure is applied to explore the differences in parameter selection caused by the changes in the frequency content of the road input or by changes in the criteria for optimization. The equations of motion for a tractor-semitrailer truck are cast in state space form. The road excitations are represented by the output of a white noise excited shaping filter taking into consideration the time delays between the different vehicle axles. Shape filters to represent human perception of vibration in both the vertical and longitudinal directions in the time domain are presented and realized in terms of state variables. The suspension parameters of the road-vehicle-human body system are optimized using a direct search algorithm.     

Adaptive Throttle Control for Speed Tracking

SUMMARY

Electronic throttle control is an important part of every advanced vehicle control system. In this paper we design an adaptive control scheme for electronic throttle that achieves good tracking of arbitrary constant speed commands in the presence of unknown disturbances. The design is based on a simplified linear vehicle model which is derived from a validated nonlinear one. The designed control scheme is simulated using the validated full order nonlinear vehicle model and tested on an actual vehicle. The simulation and vehicle test results are included in this paper to show the performance of the controller. Due to the learning capability of the adaptive control scheme, changes in the vehicle dynamics do not affect the performance of the controller in any significant manner.     

Analyses of Vision-based Lateral Control for Automated Highway System

SUMMARY

The stability and performance of a vision-based vehicle lateral control system are analyzed. Effects of look-ahead distance, vision delay, and vehicle speed on the performance of vision feedback control system are examined by using frequency domain and time domain methods. A measurement model of the vision system is derived from the point of view of multiple sensors. The quantization error of the vision system is analyzed and the way of extracting essential information for control is studied. Based on this analysis, some guidelines for the design of vision-based controllers are proposed. A design example is further illustrated for a vision system with a substantial time delay.     

Adaptive Suspension Concepts for Road Vehicles

SUMMARY

Most vehicle suspensions are composed of passive spring and damper devices, although improved suspension performance is possible if an active system is used to control forces or relative velocities. The complexity, power requirements, and cost of fully active suspensions have restricted their use. Various partially active suspensions have been proposed and suspensions with slow load levelers and variable dampers are in widespread use. Here we analyze a class of basically passive suspensions the parameters of which can be varied actively in response to various measured signals on the vehicle. These suspensions can come close to optimal performance with simpler means than many of the active or semi-active schemes previously proposed.     

Design of Optimal Four-Wheel Steering System

SUMMARY

Optimal design of the four wheel steering (4WS) system of the ground vehicle is studied. 4WS vehicles with the optimal control scheme are considered first. General formulation of the optimal control law is developed based on the linear quadratic regulator theory. The vehicle speed function (VSF) based 4WS vehicle with a simple feedback controller is considered as a special case of the optimal system. Two new designs of the VSF 4WS system are proposed and their performances are compared with the optimal 4WS systems and the existing VSF 4WS system. The first system is designed for the maximum stability while the second system is designed to emulate the response of the optimal 4WS vehicle. Advantages of the new VSF designs are discussed.     

Vehicle/Pilot System Analysis: A New Approach Using Optimal Control With Delay

SUMMARY

This article deals with the simulation of a vehicle/pilot system experiencing external disturbances. In the simulation, the car is modeled with two degrees of freedom and the pilot is assumed to respond to the state vector with a time delay. When perturbations are introduced, the pilot is expected to drive his car back to the initial state while minimizing a quadratic cost function. With some simplifications for low frequencies responses, the model is then used to simulate the response of different vehicles to an initial step in lateral displacement. The results from the simulations are interpreted in the light of the controllability diagrams.     

Emergency steering control of autonomous vehicle for collision avoidance and stabilisation

ABSTRACT

Collision avoidance and stabilisation are two of the most crucial concerns when an autonomous vehicle finds itself in emergency situations, which usually occur in a short time horizon and require large actuator inputs, together with highly nonlinear tyre cornering response. In order to avoid collision while stabilising autonomous vehicle under dynamic driving situations at handling limits, this paper proposes a novel emergency steering control strategy based on hierarchical control architecture consisting of decision-making layer and motion control layer. In decision-making layer, a dynamic threat assessment model continuously evaluates the risk associated with collision and destabilisation, and a path planner based on kinematics and dynamics of vehicle system determines a collision-free path when it suddenly encounters emergency scenarios. In motion control layer, a lateral motion controller considering nonlinearity of tyre cornering response and unknown external disturbance is designed using tyre lateral force estimation-based backstepping sliding-mode control to track a collision-free path, and to ensure the robustness and stability of the closed-loop system. Both simulation and experiment results show that the proposed control scheme can effectively perform an emergency collision avoidance manoeuvre while maintaining the stability of autonomous vehicle in different running conditions.     

On model-based longitudinal feed-forward motion control for low velocities on known road profiles

ABSTRACT

So far, longitudinal motion control has focused on situations like highway driving, where disturbances of the road profile can be neglected. In this paper, we show how the Two Point Tire Model can be used to derive a novel feed-forward control law for a vehicle's longitudinal motion that considers the effects of the road profile and can complement existing control approaches. For this purpose, we recapitulate the basic model assumptions and equations and briefly discuss how it can be used on arbitrary road profiles. Two approaches for implementation in a real vehicle are presented. Comparisons of these approaches in simulation and to a human driver of an experimental vehicle show that the controller can deal with stepped obstacles of up to 14?cm in height. However, the control performance is essentially limited by the actuator delay and human drivers outperform the controller due to their ability of sensing subtle vehicle motions. The results indicate that the control performance can be further improved by using a preview on the necessary drive torque, which can be provided by the solution that we propose.     

Switched control of vehicle suspension based on motion-mode detection

This paper presents a study on switched control of vehicle suspension based on motion-mode detection. This control strategy can be potentially implemented via the interconnected suspension such as hydraulically interconnected suspension by actively switching its interconnection configuration in terms of the dominant vehicle body motion-mode. The design of the switched control law is developed focusing on three vehicle body motion-modes: bounce, pitch, and roll. At first, an H_∞ optimal controller will be designed for each motion-mode with the use of a common quadratic Lyapunov function, which guarantees the stability of the switched system under arbitrary switching functions. Then, a motion-mode detection method based on the calculation of the motion-mode energy is introduced. And then, the possible implementation of the control system in practice is discussed. Finally, numerical simulations are used to validate the proposed study.     

Coordinated control strategies for active steering,differential braking and active suspension for vehicle stability,handling and safety improvement

ABSTRACT

In this paper, a coordinated control strategy is proposed to provide an effective improvement in handling stability of the vehicle, safety, and comfortable ride for passengers. This control strategy is based on the coordination among active steering, differential braking, and active suspension systems. Two families of controllers are used for this purpose, which are the high order sliding mode and the backstepping controllers. The control strategy was tested on a full nonlinear vehicle model in the environment of MATLAB/Simulink. Rollover avoidance and yaw stability control constraints have been considered. The control system mainly focuses on yaw stability control. When rollover risk is detected, the proposed strategy controls the roll dynamics to decrease rollover propensity. Simulation results for two different critical driving scenarios, the first one is a double lane change and the other one is a J-turn manoeuvre, show the effectiveness of the coordination strategy in stabilising the vehicle, enhancing handling and reducing rollover propensity.     

SPSA在公交枢纽内车辆实时调度优化中的应用研究

对公交枢纽内车辆进行实时调度能提高换乘效率,特别是对已进行了调度优化的公交线路,而车辆到达出现延误的情况.根据线路的延迟到达时间和换乘客流量等因素建立了公交枢纽内车辆的实时调度优化模型,提出了基于整个系统费用最小的优化目标函数,并运用随机扰动梯度近似算法（SPSA）对优化模型进行求解,给出了实际应用算例.     

Optimal Linear Preview Control of Active Vehicle Suspension

SUMMARY

The problem of linear preview control of vehicle suspension is considered as a continuous time stochastic optimal control problem. In the proposed approach minimal a priori information about the road irregularities is assumed and measurement errors are taken into account. It is shown that estimation and control issues can be decoupled. The problem formulation and the analytical solution are given in a general form and hence they apply to other problems in which the system disturbances are unknown a priori, even in a stochastic sense, but some preview information is possible.

The solution is applied to a two-degree-of-freedom (2-DOF) vehicle model. The effects of preview information on ride comfort, road holding, working space of the suspension and power requirements are examined in time and frequency domains. The results show that the greatest potential is for improving road holding properties. This effect could not have been observed in previous studies based on a 1-DOF vehicle model. It is also demonstrated that the presence of preview drastically reduces power requirements, thus relieving the performance versus actuator power dilemma.     

H2 optimal control of disturbance-delayed systems with application to vehicle suspensions

Optimal control of systems with time delays among disturbances, such as vehicle suspensions, is a relatively simple but long-standing problem in time-delayed control. We consider the exact H₂ optimal control of systems with time-delayed disturbances and develop a computationally efficient approach for controller synthesis. We extend the Lyapunov-based H₂ norm computation to systems with time-delayed disturbances and then derive a concise formula to explicitly evaluate the sensitivity of the system H₂ norm with respect to controller gains. Thence, a set of necessary conditions for H₂ optimal control of such systems using static output feedback are obtained in the form of algebraic equations. Gradient-based methods are adapted to optimize the controller gains. The method is also extended to reduced-order and decentralized control. As an application, a passive suspension system for an eight-DOF four-wheel vehicle is designed via structured H₂ optimization. The results are compared with those of a design based on a Pade expansion for the time delays and a design obtained by neglecting the disturbance delays.     

A Reusability Study of Vehicle Lateral Control System

SUMMARY

The architecture of the PATH vehicle lateral control system is presented in this paper. The two main modules are an intelligent reference/sensing system, and an Frequency-Shaped-Linear-Quadratic/preview control algorithm. The whole lateral control system was formerly evaluated on a two-door test vehicle. It was transplanted to a four-door vehicle which is considerably different from the older two-door test vehicle in dynamic characteristics. The objective of this study is to investigate the reusability of our control system.     

Literature review and fundamental approaches for vehicle and tire state estimation*

ABSTRACT

Most modern day automotive chassis control systems employ a feedback control structure. Therefore, real-time estimates of the vehicle dynamic states and tire-road contact parameters are invaluable for enhancing the performance of vehicle control systems, such as anti-lock brake system (ABS) and electronic stability program (ESP). Today's production vehicles are equipped with onboard sensors (e.g. a 3-axis accelerometer, 3-axis gyroscope, steering wheel angle sensor, and wheel speed sensors), which when used in conjunction with certain model-based or kinematics-based observers can be used to identify relevant tire and vehicle states for optimal control of comfort, stability and handling. Vehicle state estimation is becoming ever more relevant with the increased sophistication of chassis control systems. This paper presents a comprehensive overview of the state-of-the-art in the field of vehicle and tire state estimation. It is expected to serve as a resource for researchers interested in developing vehicle state estimation algorithms for usage in advanced vehicle control and safety systems.     

An Advanced Steering System with Active Kinesthetic Feedback for Handling Qualities Improvement

SUMMARY

Advanced Steering System with artificial steering wheel torque-active kinesthetic information feedback for improving handling qualities is discussed. Fundamentally the structure of the system may be considered to another form of model following control. In this system, a driver always remains in the control loop and receives steering control information which give him/her a direct hint to steer a steering wheel. This system works as a stability and control augmentation system of the vehicle to improve the vehicle handling qualities both in compensatory and pursuit control task, and is expected to reduce driver's workload. Effects of this system are analyzed in terms of man-machine system characteristics. Identification of driver dynamics was carried out to find why such improvement could be achieved. Availability of the proposed system is verified by analysis, simulator and proving ground tests.