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Improving Multi-Axle Vehicle Steering Coordination Performance Based on the Concept of Instantaneous Wheel Turn Center

SAE International Journal of Commercial Vehicles

GAC Automotive Research & Development Center, China-Bo Wang, Hongshan Zha, Guoqi Zhong, Shijing Weng, Qin Li
Jilin University, China-Pingping Lu
  • Journal Article
  • 02-12-02-0010
Published 2019-03-14 by SAE International in United States
A new concept of instantaneous wheel turn center (IWTC) is proposed to evaluate and improve multi-axle vehicle steering coordination performance. The concept of IWTC and its calculation method are studied. The index named dispersion of IWTC is developed to evaluate the vehicle steering coordination performance quantitatively. The simulation tests based on a three-axle off-road vehicle model are conducted under different vehicle velocities and lateral accelerations. The simulation results show that the turn centers of different wheels are disperse, and the dispersion becomes larger with the increase of vehicle velocities and lateral acceleration. Since suspension has important influences on vehicle steering performance, the genetic algorithm is used to optimize the suspension hard points and bushing stiffness, aiming at minimizing the dispersion of wheel turn centers (DWTC) to improve the vehicle steering coordination performance. The optimization results indicate that the suspension optimization can effectively reduce the DWTC and improve the vehicle steering coordination performance. The proposed wheel turn center method provides an index and tool for the suspension design and optimization in the pre-development phase of the…
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Local Path Planning for Intelligent Vehicle Obstacle Avoidance Based on Dubins Curve and Tentacle Algorithm

Guangzhou Automobile Group-Lingfei Wu, Hongshan Zha, Caijing Xiu, Qiaojun He
Published 2017-09-23 by SAE International in United States
Local path planning for obstacle avoidance is one of the core topics of intelligent vehicle. A novel method based on dubins curve and tentacle algorithm is proposed in this article, with the consideration of obstacle avoidance and vehicle motion constraints. First, the preview distance of the vehicle is given according to the current speed, so that the preview point can be found with the information of global path. Then dubins curve is adopted to find a path with appropriate turning radius, between the current position and preview point, satisfying the constraints of current direction and target direction, considering handling and ride comfort of the vehicle. In order to avoid obstacle, tentacle algorithm is adopted. 20 tentacle points are given by moving the original preview point, and then 21 local paths can be given by using dubins curve. Cost function is used to find out the best option of the 21 paths. The distance to obstacle, the final distance to original preview point and the change of moving direction are taken into consideration in the cost…
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