Browse Topic: Yaw

Items (829)
Find
Modelling and Simulation of Key Vehicle Dynamics Parameters for a Conceptual Race Car2026-26-0085To be published on 01/16/2026
Abstract Vehicle dynamics is a vital area of automotive engineering that focuses on analysing how a vehicle responds to driver inputs and external factors like road conditions and environmental influences. Achieving optimal performance, safety, and ride comfort requires a detailed understanding of longitudinal, lateral, and vertical dynamic behaviour. The objective of this paper is to develop and validate the model of a concept Race car and evaluate its vehicle dynamics behaviour using IPG CarMaker, a high-fidelity virtual testing environment widely used in industry. The model incorporates a range of vehicle parameters, including suspension parameters like spring and damper characteristics, mass distribution, tire properties and powertrain parameters. The evaluation is done using standard ISO test manoeuvres, including Constant Radius turn test (ISO 4138), Sine Steer test (ISO 8725) and other standard tests like Acceleration, Braking along with Ride and Comfort classification (as per
Agrewale, Mohammad Rafiq B., Vaish, Ujjwal
Development of a High-Fidelity Vehicle Dynamics Model with Rear-Wheel Active Roll Control for Improved Stability2026-26-0093To be published on 01/16/2026
This work introduces a unified vehicle dynamics framework that combines detailed modeling and active control to enhance ride comfort and handling stability. A full 12-degree-of-freedom vehicle model is developed to simulate dynamic responses across a range of driving conditions. Unlike conventional approaches, this model incorporates both linear and nonlinear tire behavior, enabling more accurate prediction of vehicle motion. To further improve performance, an active roll control mechanism is proposed, utilizing rear-wheel suspension actuators to counteract undesired body roll and yaw instabilities. A novel co-simulation environment is established by coupling MATLAB/Simulink-based control strategies with high-fidelity multibody dynamics from ADAMS Car. The model is calibrated and validated using experimental data from an instrumented test vehicle. Results show that the integrated control system significantly reduces critical parameters such as roll angle, yaw rate deviation, and
Duraikannu, Dinesh, DUMPALA, GANGI REDDY
Numerical Study to Predict the Impact of Geometric Modification on Aero-Acoustic Behaviour of a Commercial Vehicle2025-28-042610/30/2025
To address the growing concern of increasing noise levels in urban areas, modern automotive vehicles need improved engineering solutions. The need for automotive vehicles to have a low acoustic signature is further emphasized by local regulatory requirements, such as the EU's regulation 540/2014, which sets sound level limits for commercial vehicles at 82 dB(A). Moreover, external noise can propagate inside the cabin, reducing the overall comfort of the driver, which can have adverse impact on the driving behavior, making it imperative to mitigate the high noise levels. This study explores the phenomenon of change in acoustic behavior of external tonal noise with minor geometrical changes to the A-pillar turning vane (APTV), identified as the source for the tonal noise generation. An incompressible transient approach with one way coupled Acoustics Wave solver was evaluated, for both the baseline and variant geometries. Comparison of CFD results between baseline and variant showed
Pawar, Sourabh, Sharma, Shantanu, Singh, Ramanand
Exploring the Correlation between Physiological States and Driving Behavior on Highways with Integrated ECG Measurements2025-01-029207/02/2025
Human driver errors, such as distracted driving, inattention, and aggressive driving, are the leading causes of road accidents. Understanding the underlying factors that contribute to these behaviors is critical for improving road safety. Previous studies have shown that physiological states, like raised heart rates due to stress and anxiety, can influence driving behavior, leading to erratic driving and an increased risk of accidents. In this study, we conducted on-road tests using a measurement system based on the Driver-Driven vehicle-Driving environment (3D) method. We collected physiological signals, specially electrocardiography (ECG) data, from human drivers to examine the relationship between physiological states and driving behaviors. The aim was to determine whether ECG can serve as an indicator of potential risky driving behaviors, such as sudden acceleration and frequent steering adjustments. This information enables automated driving (AD) systems to intervene in dangerous
Ji, Dejie, Flormann, Maximilian, Bollmann, Julian, Henze, Roman, Deserno, Thomas M.
Yaw Motion of Motor Vehicles2025-01-504306/20/2025
Vehicular accident reconstruction is intended to explain the stages of a collision. This also includes the description of the driving trajectories of vehicles. Stored driving data is now often available for accident reconstruction, increasingly including gyroscopic sensor readings. Driving dynamics parameters such as lateral acceleration in various driving situations are already well studied, but angular rates such as those around the yaw axis are little described in the literature. This study attempts to reduce this gap somewhat by evaluating high-frequency measurement data from real, daily driving operations in the field. 813 driving maneuvers, captured by accident data recorders, were analyzed in detail and statistically evaluated. These devices also make it possible to record events without an accident. The key findings show the average yaw rates as a function of driving speed as well as the ratio between mean and associated peak yaw rate. Beyond that, considerably lower yaw rates
Fuerbeth, Uwe
Analysis and Evaluation of Roll Safety Thresholds of Tractor Semi-Trailer Vehicles during Turning Maneuvers Based on the Yaw Rate of Vehicle Bodies and Roll Safety Factor02-18-04-002406/05/2025
Hung, Ta Tuan
Simulation and Experimental: Enhanced Stability Control of Electric Vehicle Based on Phase Plane Boundary Analysis10-09-02-001705/05/2025
To optimize vehicle chassis handling stability and ride safety, a layered joint control algorithm based on phase plane stability domain is proposed to promote chassis performance under complicated driving conditions. First, combining two degrees-of-freedom vehicle dynamics model considering tire nonlinearity with phase plane theory, a yaw rate and side slip angle phase plane stability domain boundary is drew in real time. Then based on the real-time stability domain and hierarchical control theory, an integrated control system with active front steering (AFS) and direct yaw moment control (DYC) is designed, and the stability of the controller is validated by Lyapunov theory. Finally, the lateral stability of the vehicle is validated by Simulink and CarSim simulations, real car data, and driving simulators under moose test and pylon course slalom test. The experimental results confirm that the algorithm can enhance the maneuverability and ride safety for intelligent vehicles.
Liao, Yinsheng, Zhang, Zhijie, Su, Ailin, Zhao, Binggen, Wang, Zhenfeng
Experimental Investigation into Modulated Aeroacoustic Cabin Noise Arising from Unsteady Flow Conditions2025-01-002905/05/2025
The unsteady wind conditions experienced by a vehicle whilst driving on the road are different to those typically experienced in the steady-flow wind tunnel development environment, due to turbulence in the natural wind, moving through the unsteady wakes of other road vehicles and travelling through the stationary wakes generated by roadside obstacles. This paper presents an experimental approach using a large SUV-shaped vehicle to assess the effect of unsteady wind on the modulated noise performance, commonly used to evaluate unsteady wind noise characteristics. The contribution from different geometric modifications were also assessed. The approach is extended to assess the pressure distribution on the front side glass of the vehicle, caused by the aerodynamic interactions of the turbulent inflow in straight and yawed positions, to provide insight into the noise generation mechanisms and differences in behaviour between the two environments. The vehicle response to unsteady wind
Jamaluddin, Nur Syafiqah, Oettle, Nicholas, Staron, Domenic
Road Surface Adaptive Stationary Steering Coordinated Control of Four-Wheel Hub Motor Vehicles2025-01-503104/29/2025
The wheel hub motor–driven electric vehicle, characterized by its independently controllable wheels, exhibits high torque output at low speeds and superior dynamic response performance, enabling in-place steering capabilities. This study focuses on the control mechanism and dynamic model of the wheel hub motor vehicle’s in-place steering. By employing differential torque control, it generates the yaw moment needed to overcome steering resistance and produce yaw motion around the steering center. First, the dynamic model for in-place steering is established, exploring the various stages of tire motion and the steering process, including the start-up, elastic deformation, lateral slip, and steady-state yaw. In terms of control strategy, an adaptive in-place steering control method is designed, utilizing a BP neural network combined with a PID control algorithm to track the desired yaw rate. Additionally, a control strategy based on tire/road adhesion ellipse theory is developed to
Huang, Bin, Cui, Kangyu, Zhang, Zeyang, Ma, Minrui
Verification of the Impact of Coefficient of Drag Variation Due to Natural Wind on Fuel Consumption Based on Actual Driving Data2025-01-877804/01/2025
The natural wind experienced on public roads can increase the yaw angle and therefore drag coefficient (CD), which may contribute to the discrepancy between catalog fuel economy and actual fuel economy. The impact of yaw characteristics alone on fuel economy during actual driving has not been verified or proven as it is difficult to obtain actual driving data under uniform conditions. For this reason, shape optimization is normally performed at zero-yaw through the aerodynamic development phases. In this paper, two vehicles with different yaw sensitivity characteristics are driven simultaneously, and fuel economy measurements are performed simultaneously with ambient airflow, environment, and vehicle conditions. The results where the conditions of the two vehicles match are extracted to clarify the impact of the differences of yaw characteristics on fuel economy. The obtained results matched the values predicted by theoretical calculations for the impact of yaw angle on fuel economy
Onishi, Yasuyuki, Nichols, Larry, Metka, Matt, masumitsu, Yasutaka, Inoue, Taisuke
On the Critical Importance of Physical Modelling for the Analysis of Coast-Down Data2025-01-877404/01/2025
Novel experimental and analytical methods were developed with the objective of improving the reliability and repeatability of coast-down test results. The methods were applied to coast-down tests of a SUV and a tractor-trailer combination, for which aerodynamic wind-tunnel data were available for comparison. The rationale was to minimize the number of unknowns in the equation of motion by measuring rolling and mechanical resistances and wheel-axle moments of inertia, which was achieved using novel experimental techniques and conventional rotating-drum tests. This led to new modelling functions for the rolling and mechanical resistances in the equation of motion, which was solved by regression analysis. The resulting aerodynamic drag coefficient was closer to its wind-tunnel counterpart, and the predicted low-speed road load was closer to direct measurements, than the results obtained using conventional methods. It is anticipated that applying the novel techniques to characterize the
Tanguay, Bernard, de Souza, Fenella
Investigation of Flow Structures in Different Body Types Contributing to Drag Change Due to Crosswind2025-01-876704/01/2025
To reduce aerodynamic drag during real-world driving, it is essential to consider the effects of crosswinds. The yaw angle dependence of aerodynamic drag is known to vary based on the vehicle body type; however, there are limited studies on the physical mechanisms underlying this difference, particularly through detailed visualizations of the flow structure and its response to yaw angles. This study investigates the differences in flow structures between an SUV and a notchback to understand the mechanism responsible for the variation in yaw angle dependence of CD under quasi-steady yaw angle conditions. Numerical simulations and wind tunnel tests were conducted for both the SUV and the notchback at yaw angles of 0°, 2°, and 5°. Crossflow and total pressure were employed as indicators for visualizing the flow structure, with a focus on the wake behind the vehicle in the visualizations of the wind tunnel tests and simulations. Additionally, isosurfaces of the crossflow velocity magnitude
Nakata, Akihiro, Okamoto, Satoshi, Nishida, Shuhei, Morikawa, Yosuke, Nakashima, Takuji
Optimal Torque Vectoring Control for Autonomous Electric Vehicles Considering Ride Comfort2025-01-831004/01/2025
This study introduces an innovative torque vectoring control strategy designed to enhance ride comfort in autonomous electric vehicles. The approach seamlessly integrates steering and rear axle force control within a model predictive control (MPC) framework, enabling real-time optimization of comfort and handling performance. The proposed control method is applied to a two-rear-motor vehicle model, where the MPC algorithm adjusts steering angles and tire forces to minimize discomfort caused by yaw rate and lateral acceleration. Simulation results from a lane-change scenario demonstrate significant improvements in comfort metrics compared to conventional torque vectoring control strategies. The findings highlight the ability of the proposed method to significantly enhance ride comfort without compromising vehicle dynamics. This integrated and adaptive control strategy offers a promising solution for improving passenger satisfaction in autonomous electric vehicles, with potential
Zhao, Bolin, Lou, Baichuan, He, Xianqi, Xue, Wanying, Lv, Chen
Aerodynamic Effect on Vehicle Handling2025-01-875404/01/2025
Vehicle handling is significantly influenced by aerodynamic forces, which alter the normal load distribution across all four wheels, affecting vehicle stability. These forces, including lift, drag, and side forces, cause complex weight transfers and vary non-linearly with vehicle apparent velocity and orientation relative to wind direction. In this study, we simulate the vehicle traveling on a circular path with constant steering input, calculate the normal load on each tire using a weight transfer formula, calculate the effect of lift force on the vehicle on the front and rear, and calculate the vehicle dynamic relation at steady state because the frequency of change due to aerodynamic load is significantly less than that of the yaw rate response. The wind velocity vector is constant while the vehicle drives in a circle, so the apparent wind velocity relative to the car is cyclical. Our approach focuses on the interaction between two fundamental non-linearity’s: the nonlinear
Patil, Harshvardhan, Williams, Daniel
Design Parameter Impact of Wind-Averaged Drag Optimization2025-01-877204/01/2025
With the increasing prevalence of electric vehicles (EVs), decreasing vehicle drag is of upmost importance, as range is a primary consideration for customers and has a direct bearing on the cost of the vehicle. While the relationship between drag and range is well understood, there exists a discrepancy between the label range and the real-world range experienced by customers. One of the factors influencing the difference is the ambient wind condition that modifies the resultant air speed and yaw angle, which is typically minimized during SAE coast-down testing. The following study implements a singular wind-averaged drag (WAD) coefficient which is derived from a 3-point yaw curve to show the impact of yaw as compared to the zero-yaw condition. This leads to an interesting dilemma for the vehicle aerodynamicist: whether to optimize the vehicle's exterior shape for low wind (zero yaw) conditions or for real-world conditions where the ambient wind generally produces a few degrees of yaw
Kaminski, Meghan, D'Hooge, Andrew, Borton, Zackery
YRSRA: Yaw and Roll Stable Region Analytics for Ground Vehicle System with 5G-V2X2025-01-879904/01/2025
Since most of the existing studies focus on the identification of the yaw stable region, but ignore the identification of the roll stable region, this article presents a software tool YRSRA for calculating both the yaw and roll stable region for ground vehicle system with 5G-V2X. And the frequency of rollover instability of commercial vehicles such as trucks and buses is not low, and the cost of rollover accidents is often greater than the cost of yaw instability accidents. Therefore, it is necessary to identify the stability region of yaw and roll at the same time. Firstly, the iterative model of yaw rate and slip angle is constructed through deducing the two-degree-of-freedom vehicle dynamics. Secondly, the load transfer ratio (LTR) is coded with given yaw rate and slip angle. Thirdly, several Illustrative examples are depicted, such as variation of steer angle, road adhesion coefficient and vehicle speed. The software features an easy to generate yaw and roll stability region by on
Tu, Lihong, Zeng, Dequan, Zhang, Zhouping, He, Qixiao, Zhao, Shuqi, Sun, Jing, Wang, Aichun, Yu, Qin, Ming, Jinghong, Wang, Xiaoliang, Hu, Yiming
Stability Control for Distributed Drive Electric Vehicles Using Particle Filter and Fuzzy Integral Sliding Mode Control2025-01-881104/01/2025
The Distributed Drive Electric Vehicles (DDEVs) offer advantages such as independently controllable driving and braking forces at each wheel, rapid response, and precise control. These features enable effective electronic stability control (ESC) by appropriately distributing torque across each wheel. However, traditional ESC systems typically employ single-wheel hydraulic differential braking, failing to fully utilize the independent torque control capabilities of DDEVs. This study proposes a hierarchical control strategy for distributed driving and braking ESC based on particle filter (PF) and fuzzy integral sliding mode control (FISMC). First, the vehicle state estimation layer uses a three-degree-of-freedom vehicle model and the PF to estimate sideslip angle and vehicle speed. Next, the target torque decision layer includes a target speed tracking controller and a yaw moment decision controller. The yaw moment decision controller uses the FISMC to determine additional yaw moment by
Li, Xiaolong, Zheng, Hongyu, Kaku, Chuyo
Investigation of Skin Friction Topology on the AeroSUV Using GLOF Meter2025-01-878204/01/2025
In this study, the aerodynamics and surface flow field of a 1/5 scale SUV vehicle model called “AeroSUV” were experimentally investigated. The aerodynamics and surface flow field investigations were carried out in the wind tunnel at Hiroshima University with a Reynolds number ReL = 1.2×106, baseline yaw angle β = 0° and crosswind conditions β = 5°, 10° and 15° for two rear ends, Estateback and Fastback. The results provide aerodynamic information and detailed surface flow field information for a standard middle-class SUV vehicle with different rear ends, which is important for automotive design. By applying GLOF measurements to automotive aerodynamics, the skin friction topology was revealed in detail as surface flow field information that is useful for understanding the physics of the flow. The skin friction topology clearly shows the separation lines, reattachment lines, and focus points associated with the separation flow, longitudinal vortices and recirculation vortices of this
Hijikuro, Masato, Shimizu, Keigo, Nakashima, Takuji, Hiraoka, Takenori
A Sled Test Methodology for 25% Offset Crash Tests2025-01-873704/01/2025
Sled crash tests are an important tool to develop automotive restraint systems. Compared with full-scale crash tests, the sled test has a shorter development cycle of the restraint system and lower cost. The objective of the present study is to create a cost-effective sled test methodology, calculate the optimal static yaw angle and loading curves, and analyze the motion response and injuries of the dummy in the small overlap crash test. The effectiveness of the proposed methodology was verified under two typical small overlap frontal crash modes: “energy-absorption” and “sideswipe”. The results show that with the calculated yaw angle α, the HIC was different from the small overlap crash model, but all remaining indices were within 5% of the injury criteria. All International Organization for Standardization (ISO) values between the combined accelerations of all parts of the dummy and those of the basic model exceeded 0.75, and some values were above 0.8. Therefore, the proposed sled
Yu, Liu, Chen, Jianzhuo, Wan, Ming Xin, Fan, Tiqiang, Yang, Peilong, Nie, Zhenlong, Ren, Lihai, Cheng, James Chih
A Torque Distribution Strategy for the Six-Wheeled Lunar Rover2025-01-830804/01/2025
As a crucial tool for lunar exploration, lunar rovers are highly susceptible to instability due to the rugged lunar terrain, making control of driving stability essential during operation. This study focuses on a six-wheel lunar rover and develops a torque distribution strategy to improve the handling stability of the lunar rover. Based on a layered control structure, firstly, the approach establishes a two-degree-of-freedom single-track model with front and rear axle steering at the state reference layer to compute the desired yaw rate and mass center sideslip angle. Secondly, in the desired torque decision layer, a sliding mode control-based strategy is used to calculate the desired total driving torque. Thirdly, in the torque distribution layer, the optimal control distribution is adopted to carry out two initial distributions and redistribution of the drive torque planned by the upper layer, to improve the yaw stability of the six-wheeled lunar rover. Finally, a multi-body dynamics
Liu, Pengcheng, Zhang, Kaidi, Shi, Junwei, Yang, Wenmiao, Zhang, Yunqing, Wu, Jinglai
Study on Emergency Obstacle Avoidance Lateral Stability Control of Tractor Semitrailer Vehicles2025-01-829604/01/2025
As a crucial component of highway freight systems, tractor semitrailer vehicles play a key role in the transportation industry. However, their complex vehicle structure can lead to significant lateral instability during emergency obstacle avoidance, posing challenges to the vehicle's dynamic stability and safety. To enhance the emergency obstacle avoidance lateral stability of tractor semitrailer vehicles, a direct yaw moment lateral stability control strategy based on differential driving/braking is proposed. First, a 3-degree-of-freedom ideal linear dynamic model of the tractor-semitrailer is established, and its accuracy is validated. Then, a lateral stability control strategy for emergency obstacle avoidance is proposed. The upper-layer controller employs an improved feedforward differential model-free adaptive control (IMFAC) method to track the target yaw rate and vehicle sideslip angle, while the lower-layer controller focuses on optimizing tire load rate. Additionally, a drive
Guo, Shaozhong, Dou, Jingyang
Sensitivity Analysis of Virtual Crash Simulation Software Using Design of Experiments (DOE)2025-01-869304/01/2025
This paper is a continuation of a previous effort to evaluate the post-impact motion of vehicles with high rotational velocity within various vehicle dynamic simulation softwares. To complete this goal, this paper utilizes a design of experiments (DOE) method. The previous papers analyzed four vehicle dynamic simulation software programs; HVE (SIMON and EDSMAC4), PC-Crash and VCRware, and applied the DOE to determine the most sensitive factors present in each simulation software. This paper will include Virtual Crash into this methodology to better understand the significant variables present within this simulation model. This paper will follow a similar DOE to that which was conducted in the previous paper. A total of 32 trials were conducted which analyzed ten factors. Aerodynamics, a factor included in the previous DOE, was not included within this DOE because it does not exist within Virtual Crash. The same three response variables from the previous DOE were measured to determine
Roberts, Julius, Civitanova, Nicholas, Stegemann, Jacob, Buzdygon, David, Thobe, Keith
Coordinated Control Strategy for Longitudinal, Lateral, and Vertical Motions of Distributed Electric Vehicles Based on Model Predictive Control2025-01-830004/01/2025
Distributed electric vehicles, equipped with independent motors at each wheel, offer significant advantages in flexibility, torque distribution, and precise dynamic control. These features contribute to notable improvements in vehicle maneuverability and stability. To further elevate the overall performance of vehicles, particularly in terms of handling, stability, and comfort, this paper introduces an coordinated control strategies for longitudinal, lateral, and vertical motion of distributed electric vehicles. Firstly, a full-vehicle dynamics model is developed, encompassing interactions between longitudinal, lateral, and vertical forces, providing a robust framework for analyzing and understanding the intricate dynamic behaviors of the vehicle under various operating conditions. Secondly, a vehicle motion controller based on Model Predictive Control is designed. This controller employs a sophisticated multi-objective optimization algorithm to manage and coordinate several critical
Jia, Jinchao, Yue, Yang, Sun, Aobo, Liu, Xiao-ang
Stability-Based Coordinated Control for Distributed Drive Electric Vehicle Trajectory Tracking and Handling Stability2025-01-830704/01/2025
To address the issue of poor yaw stability in distributed drive electric vehicles under extreme trajectory tracking conditions, this paper proposes a novel control approach that coordinates upper-layer trajectory tracking and stability control with lower-layer active front steering (AFS) and direct yaw moment control (DYC). Firstly, a stability domain boundary is defined in the β−β̇phase plane, and the instability factor is derived based on boundary line characteristics. This factor is used as a weight in the objective function to establish a model predictive control (MPC) for trajectory tracking and handling stability, thereby adjusting the control target weights for both objectives. Secondly, fuzzy logic is used to change the boundary of the phase plane transition field according to the vehicle state to dynamically adjust the intervention timing of the stability control, while AFS and DYC control are used to modify the front wheel steering angle and yaw moment control in the MPC
Dou, Jingyang, Wu, Jinglai, Zhang, Yunqing
Direct Yaw Moment Control for Distributed Drive Electric Vehicles Based on Full-Order Terminal Sliding Mode2025-01-702401/31/2025
Distributed Drive Electric Vehicles (DDEVs), as a significant development form of electric vehicles, have garnered considerable focus owing to their excellent energy utilization efficiency and the capability for flexible torque distribution. However, DDEVs still face numerous challenges in practical applications, particularly in the coordinated control of hub motors and system stability. This paper focuses on the whole-vehicle control technology and distributed control theory of DDEVs and researches the active safety function of Direct Yaw-moment Control (DYC): acceleration and turning. A full-order terminal sliding mode controller is utilized to suppress the chattering of sliding mode control and to reduce torque fluctuations in the output. Results show that the proposed method can enhance the vehicle’s yaw stability and driving safety with the linear sliding mode.
Zhou, Minghao, Wu, Weiwei, Fei, Xueran, Chen, Zhenqiang, Jiang, Longbin, Cai, William
Design of Electric Power Steering Control for Compensating the Torque Steer Effect due to Torque Vectoring Control10-09-02-001001/24/2025
The increased popularity of electric vehicles featuring distributed powertrains is enabling an easy and cost-effective implementation of torque vectoring. This is a renowned technique for controlling vehicle lateral dynamics having the objective of improving both vehicle handling and stability. Nevertheless, the application of torque vectoring at the front axle can increase the difficulty of usual driving tasks. This is because differential longitudinal forces at front tires generate a steering wheel torque, which can be badly perceived by the driver, up to the point of jeopardizing the benefits of having a torque vectoring control. The aim of this article is thus to study in detail the steering torque corruption caused by front axle torque vectoring for proposing some electric power steering control strategies compensating for this effect. Indeed, the electric power steering controllers developed in this study are designed based on the analytical derivation of the torque steer theory
Asperti, Michele, Vignati, Michele, Sabbioni, Edoardo
Path Tracking and Direct Yaw Moment Integrated Control for Autonomous Vehicles with Steer-by-Wire Based on LMI and Terminal Sliding Mode2024-01-704812/13/2024
This paper proposes a path-tracking and direct yaw moment integrated control strategy based on linear matrix inequality (LMI) and terminal sliding mode for autonomous distributed drive electric vehicles (A-DDEVs) equipped with a steer-by-wire (SBW) system. This strategy effectively attenuates the effects of external disturbances and parameter uncertainties on path tracking, thereby enhancing vehicle safety. The control-oriented vehicle model accounts for roll effects, with the system state matrix incorporating mismatched norm bounded uncertainties. Firstly, for overall vehicle motion control, an LMI-based integral sliding mode controller (ISMC) is designed to generate desired front wheel steering angle and additional yaw moment. This aims to converge path-tracking errors and ensure vehicle stability. A sufficient condition for the existence of a sliding surface ensuring asymptotic stability of the sliding mode dynamics is provided, along with a demonstration of the attainability of the
Li, Danyang, Zhao, Youqun, Lin, Fen, Zhang, Chenxi, Yu, Song
An Analytical Method to Study Control Strategy of Torque-Vectoring Transmissions for Electric Vehicles Using MATLAB Simulink2024-28-021012/05/2024
Torque vectoring offers drive flexibility and continuous individual wheel torque regulation, which is unavailable in conventional transmission systems. Electric vehicles with multiple drivetrains and torque-vectoring system can significantly enhance vehicle response and handling, and thus the active safety, efficiency, and performance of the vehicle in all driving conditions. The current methodology of predicting performance characteristics is limited through slip rate calculations and yaw rate calculations. The vehicle dynamic performance evaluations with above said methodologies holds good for dynamic cornering. But in the scenarios where the vehicle moving in straight drive with different wheel traction requirements on either side (split-μ condition) and that requires torque vectoring. These above methods do not help to evaluate the performance of vehicle. Because these methodologies are based on predicting dynamic center-of-gravity values of vehicle. In the proposed methodology
Ramakrishnan, Gowtham Raj, Baheti, Palash
Fast Time-Varying Uncertainty Resisting for Hybrid UAV by Hierarchical Yaw Control with Constrained Input2024-01-700111/15/2024
Yaw control for aircraft using the rudder faces challenges in resisting fast time-varying uncertainty due to the relatively slower response of the rudder. In hybrid unmanned aerial vehicles equipped with both rudders and rotors, the introduction of powered yaw control offers novel solutions for addressing fast time-varying uncertainty by leveraging the quicker response of rotors compared to traditional rudders. This paper presents a hierarchical yaw control approach for hybrid unmanned aerial vehicles, comprising a nominal control for rudders to achieve the desired yaw tracking and a constrained powered yaw control for rotors to resist fast time-varying uncertainty. Given the constrained amplitude of powered yaw control, it is imperative that the designed auxiliary input guarantees adherence to its constraint. Firstly, a nonlinear control for nominal hybrid unmanned aerial vehicle system is formulated to deal with the nonlinearity model, rendering a modest nominal control for rudders
Dai, Jiawen, Liu, Jiaojiao, Yang, Yi, Bai, Jie, Zhang, Zheshuo
Evaluation of an Unsteady Yaw, Gust, and Broadband Turbulence Generation System for Closed-Loop Automotive Wind Tunnels15-18-01-000510/25/2024
This study investigates the flow characteristics in the test section of a model-scale, three-quarters open-jet, closed-loop return wind tunnel equipped with a novel device featuring three subsystems to generate transient yaw, gusts, and turbulence. The effect of each subsystem on the resulting turbulent and unsteady flows is evaluated individually and simultaneously. It is demonstrated that this new turbulence generation system can generate yaw distributions with standard deviations ranging from 2.1° to 8.0°. This replicates a wide range of on-road yaw behavior. Additionally, the subsystems can activate transient yaw events and unsteady gusts. Frequency sweeping was demonstrated to fill a wide range of low-frequency spectra, which helps recreate the on-road flow spectra in wind tunnels. Unsteady gusts of more than 15% of the mean flow velocity were achieved. The active turbulence subsystem generates turbulence levels from a few percent, passively, to over 20% intensity levels actively
Cacho, Gemiel, Marques, Joshua, Van Every, David, Waudby-Smith, Peter, Hanson, Ronald
Integrated Control of Intelligent Vehicle Driving Stability Using Three-Dimensional Phase Space10-09-01-000210/16/2024
To enhance vehicle dynamic stability during driving, we developed a three-dimensional phase space model that incorporates the sideslip angle of center of mass, yaw rate, and lateral load transfer rate. This model enabled real-time evaluation and active control of vehicle stability. First, longitudinal and lateral controllers were implemented to ensure precise vehicle trajectory. Second, a hierarchical control strategy was designed to actively manage the desired sideslip angle, yaw rate, and roll angle based on the vehicle’s destabilizing conditions, thereby maintaining the vehicle within a stable state space. We simulated and tested the stability analysis methods and integrated control strategies for both cars and trucks under DLC (double lane change) and CDC (circular driving condition) scenarios using joint simulations with CarSim/TruckSim and Simulink. The proposed integrated stability control strategy, which combined MPC-based trajectory tracking with direct yaw moment control and
Lai, Fei, Xiao, Hao, Huang, Chaoqun
Integrated Motion Control Strategy Considering Parameter Robustness for Distributed Vehicle by Wire10-08-04-003110/10/2024
To address the issues of functional conflicts in execution subsystems and the deterioration of control performance due to model parameter uncertainties in the motion control of distributed vehicle by wire, this article proposes an integrated control strategy considering parameter robustness. This strategy aims to compensate for model mismatch, resolve functional conflicts, and achieve motion coordination. Based on the over-actuation characteristics of distributed vehicle by wire, this article constructs the dynamic model and utilizes the tire cornering properties along with phase portraits to delineate the working regions of the execution subsystems. To deal with model parameter uncertainties and mismatch, tube-based model predictive control (tube-based MPC) is applied to the control strategy design, which compensates for model deviations through state feedback and constructs a robust positively invariant set (RPI) to constrain the system state. Correspondingly, the weights of control
Chen, Guoying, Bi, Chenxiao, Zhao, Xuanming, Yang, Liunan, Tang, Zhuo, Yu, Huili
Compatibility between Handling Agility and Stability of Vehicle using Rear Wheel Steering with Dual-Link Actuators2024-01-276104/09/2024
The experimental control findings of increasing the handling performance so that the yaw motion of the vehicle is nimble and stable utilizing the upgraded rear wheel steering system equipped with dual-link actuators are shown in this work. In most automobiles, the steering axis is well defined in front suspension. However, unless the vehicle's rear suspension is a sort of double wishbone, the steering axis is not clearly defined in regular multi-link rear suspensions. As a result, most current automobiles have a suspension geometry feature in which the camber and toe angles change at the same time when the assist link is changed to steer the back wheels. To create lateral force from the rear tire while preserving maximum tire grip, the dual-link actuators control for modifying the strokes of suspension links must keep the camber angle constant and adjust only the toe angle. The relationship between the motion of two suspension link actuators and the camber angle/toe angle is found in
Park, Jaeyong, Na, Sungsoo
On the Investigation of Car Steady-State Cornering Equilibria and Drifting2024-01-276404/09/2024
This paper proposes a thorough investigation of steady-state cornering equilibria for cars. Besides equilibria corresponding to normal driving behaviour - herein denoted as stable-normal turn, drifting is attracting increasing attention. When discussing drifting, it is typically assumed that yaw rate and steering angle have opposite signs, i.e. the driver is countersteering, and the rear axle is saturated. Interestingly, another unstable equilibrium is possible, herein referred to as unstable-normal turn. In this work, an attempt to give a comprehensive definition of drift is made. An inverse model is proposed to compute the driver inputs needed to perform a steady-state turn for a given radius and sideslip angle. The mathematical meaning of all equilibria is explored by linearizing the system and analyzing eigenvalues and eigenvectors of the resulting state matrices.
Righetti, Giovanni, Binetti, Elisabetta, Pinto de Castro, Ricardo, Lot, Roberto, Massaro, Matteo, Lenzo, Basilio
Vehicle Yaw Dynamics Safety Analysis Methodology based on ISO-26262 Controllability Classification2024-01-276604/09/2024
Complex chassis systems operate in various environments such as low-mu surfaces and highly dynamic maneuvers. The existing metrics for lateral motion hazard by Neukum [13] and Amberkar [17] have been developed and correlated to driver behavior against disturbances on straight line driving on a dry surface, but do not cover low-mu surfaces and dynamic driving scenarios which include both linear and nonlinear region of vehicle operation. As a result, an improved methodology for evaluating vehicle yaw dynamics is needed for safety analysis. Vehicle yaw dynamics safety analysis is a methodical evaluation of the overall vehicle controllability with respect to its yaw motion and change of handling characteristic. The yaw dynamics safety analysis is crucial for understanding how a driver-vehicle system responds to disturbances (external forces such as failure modes) in various driving scenarios and maneuvers., and it plays a significant role in evaluating the overall safety and performance of
paik, Scott, Almasri, Hossam, Rao Medidha, Neelakanta, Capobianco, Anthony, Evans, Andrew, Sevillano, Yvette
A MPC based Cooperated Control Strategy for Enhanced Agility and Stability of Four-Wheel Steering and Drive Electric Vehicles2024-01-276804/09/2024
Multiple actuators equipped in electric vehicles, such as four- wheel steering (4WS) and four-wheel drive (4WD), provide more degrees of freedom for chassis motion control. However, developing independent control strategies for distinct actuator types could result in control conflicts, potentially degrading the vehicle's motion performance. To address this issue, a model predictive control (MPC) based steering-drive cooperated control strategy for enhanced agility and stability of electric vehicles with 4WD and 4WS is proposed in this paper. By designing the control constraints within the MPC framework, the strategy enables single-drive control, single-steering control, and steering-drive cooperative control. In the upper control layer, a linear time-varying MPC (LTV-MPC) is designed to generate optimal additional yaw moment and additional steering angles of front and rear wheels to enhance vehicle agility and lateral stability. In the lower control layer, a linear MPC (LMPC) based
Sun, Haobo, Zhang, Lin, Zhao, Chunlai, Wang, Nian, Zhang, Zeyang, Chen, Hong
A Novel Torque Distribution Approach of Four-Wheel Independent-Drive Electric Vehicles for Improving Handling and Energy Efficiency2024-01-231504/09/2024
This paper presents a torque distribution strategy for four-wheel independent drive electric vehicles (4WIDEVs) to achieve both handling stability and energy efficiency. The strategy is based on the dynamic adjustment of two optimization objectives. Firstly, a 2DOF vehicle model is employed to define the stability control objective for Direct Yaw moment Control (DYC). The upper-layer controller, designed using Linear Quadratic Regulator (LQR), is responsible for tracking the target yaw rate and target sideslip angle. Secondly, the lower-layer torque distribution strategy is established by optimizing the tire load rate and motor energy consumption for dynamic adjustment. To regulate the weights of the optimization targets, stability and energy efficiency allocation coefficient is introduced. Simulation results of double lane change and split μ road conditions are used to demonstrate the effectiveness of the proposed DYC controller.
Dou, Jingyang, Chen, Zixuan, Zhang, Yunqing, Wu, Jinglai
Dynamic Yaw Rate Regulation for Moderate Understeer in Four-Wheel Steering Vehicles with Zero Sideslip Angle2024-01-251604/09/2024
The pursuit of maintaining a zero-sideslip angle has long driven the development of four-wheel-steering (4WS) technology, enhancing vehicle directional performance, as supported by extensive studies. However, strict adherence to this principle often leads to excessive understeer characteristics before tire saturation limits are reached, resulting in counter-intuitive and uncomfortable steering maneuvers during turns with variable speeds. This research delves into the phenomenon encountered when a 4WS-equipped vehicle enters a curved path while simultaneously decelerating, necessitating a reduction in steering input to adapt to the increasing road curvature. To address this challenge, this paper presents a novel method for dynamically regulating the steady-state yaw rate of 4WS vehicles. This regulation aims to decrease the vehicle's sideslip angle and provide controlled understeer within predetermined limits. As a result, the vehicle can maintain a zero-sideslip angle during turns with
Guan, Yihang, Zhou, Hongliang, Jing, Houhua, Miao, Weiwei
Vehicle Yaw Stability Model Predictive Control Strategy for Dynamic and Multi-Objective Requirements2024-01-232404/09/2024
Vehicle yaw stability control (YSC) can actively adjust the working state of the chassis actuator to generate a certain additional yaw moment for the vehicle, which effectively helps the vehicle maintain good driving quality under strong transient conditions such as high-speed turning and continuous lane change. However, the traditional YSC pursues too much driving stability after activation, ignoring the difference of multi-objective requirements of yaw maneuverability, actuator energy consumption and other requirements in different vehicle stability states, resulting in the decline of vehicle driving quality. Therefore, a vehicle yaw stability model predictive control strategy for dynamic and multi-objective requirements is proposed in this paper. Firstly, the unstable characteristics of vehicle motion are analyzed, and the nonlinear two-degree-of-freedom vehicle dynamics models are established respectively. Secondly, the vehicle yaw stability control strategy is designed: The two
Wang, Hanlin, Wu, Jian, Chen, Zhicheng, He, Rui, Li, Haiqiao
Coordinated Control of Trajectory Tracking and Yaw Stability of a Hub-Motor-Driven Vehicle based on Four-Wheel-Steering2024-01-276704/09/2024
In order to improve the trajectory tracking accuracy and yaw stability of vehicles under extreme conditions such as high speed and low adhesion, a coordinated control method of trajectory tracking and yaw stability is proposed based on four-wheel-independent-driving vehicles with four-wheel-steering. The hierarchical structure includes the trajectory tracking control layer, the lateral stability control decision layer, and the four-wheel angle and torque distribution layer. Firstly, the upper layer establishes a three-degree-of-freedom vehicle dynamics model as the controller prediction model, the front wheel steering controller is designed to realize the lateral path tracking based on adaptive model predictive control algorithm and the longitudinal speed controller is designed to realize the longitudinal speed tracking based on PID control algorithm. Then, the middle layer decides the rear wheel steering angle and the additional yaw moment to maintain the vehicle's yaw stability based
Fu, Yao, Xie, Renmin, Kaku, Chuyo, Zheng, Hongyu
Real-Time Cornering Stiffness Estimation and Road Friction State Classification under Normal Driving Conditions2024-01-265004/09/2024
The tire cornering stiffness plays a vital role in the functionality of vehicle dynamics control systems, particularly when it comes to stability and path tracking controllers. This parameter relies on various external variables such as the tire/ambient temperature, tire wear condition, the road surface state, etc. Ensuring a reliable estimation of the cornering stiffness value is crucial for control systems. This ensures that these systems can accurately compute actuator requests in a wide range of driving conditions. In this paper, a novel estimation method is introduced that relies solely on standard vehicle sensor data, including data such as steering wheel angles, longitudinal acceleration, lateral acceleration, yaw rate, and vehicle speed, among others. Initially, the vehicle's handling characteristics are deduced by estimating the understeer gradient. Subsequently, real-time estimates of the cornering stiffness values are derived by adapting the previously obtained parameters
Balaga, Sanjay Raghav, labella, Mario, Singh, Kanwar Bharat
Improving Vehicle Stability and Comfort through Active Corner Positioning2024-01-255204/09/2024
The emergence of new electric vehicle (EV) corner concepts with in-wheel motors offers numerous opportunities to improve handling, comfort, and stability. This study investigates the potential of controlling the vehicle's corner positioning by changing wheel toe and camber angles. A high-fidelity simulation environment was used to evaluate the proposed solution. The effects of the placement of the corresponding actuators and the actuation point on the force required during cornering were investigated. The results demonstrate that the toe angle, compared to the camber angle, offers more effect for improving the vehicle dynamics. The developed direct yaw rate control with four toe actuators improves stability, has a positive effect on comfort, and contributes to the development of new active corner architectures for electric and automated vehicles.
Skrickij, Viktor, Šabanovič, Eldar, Kojis, Paulius, Žuraulis, Vidas, Ivanov, Valentin, Shyrokau, Barys
Research on the Control Strategy for Handling Stability of Electric Power Steering System with Active Front Wheel Steering Function10-08-01-000602/07/2024
Due to the presence of uncertain disturbances in the actual steering system, disturbances in the system may affect the handling stability of the vehicle. Therefore, this article proposes an integrated steering system control strategy with stronger anti-disturbance performance. When disturbances exist in the system, the proposed control strategy effectively reduces the attitude changes during the vehicle steering process. In the upper-level control strategy, a variable transmission ratio curve is designed to coordinate the high-speed handling stability and low-speed steering sensitivity of the vehicle. On this basis, a sideslip angle observer is proposed based on the extended state observation theory, which does not depend on an accurate system model, thus determining the intervention timing of the active front wheel steering system. In the lower-level control strategy, DR-PI/DR-PID controllers are designed for the integrated steering system. Finally, experiments are conducted in the
Wei, JinCheng, Zheng, Zhu’An, Chen, JiaLing
Integrated Four-Wheel Steering and Direct Yaw-Moment Control for Autonomous Collision Avoidance on Curved Road02-17-01-000701/25/2024
An automatic collision avoidance control method integrating optimal four-wheel steering (4WS) and direct yaw-moment control (DYC) for autonomous vehicles on curved road is proposed in this study. Optimal four-wheel steering is used to track a predetermined trajectory, and DYC is adopted for vehicle stability. Two single lane change collision avoidance scenarios, i.e., a stationary obstacle in front and a moving obstacle at a lower speed in the same lane, are constructed to verify the proposed control method. The main contributions of this article include (1) a quintic polynomial lane change trajectory for collision avoidance on curved road is proposed and (2) four different kinds of control method for autonomous collision avoidance, namely 2WS, 2WS+DYC, 4WS, and 4WS+DYC, are compared. In the design of DYC controller, two different feedback control methods are adopted for comparison, i.e., sideslip angle feedback and yaw rate feedback. The simulation results demonstrate significant
Lai, Fei
Virtual Brake Pull Maneuver Development2023-36-002101/08/2024
The Brake Pull phenomena is the directional deviation when a strong deceleration is applied, this happens due to asymmetries in the vehicle with diverse origins: dimensional, stiffness, damping, friction and loading condition. This phenomenon creates the necessity of driver inputs on the steering wheel adjusting the vehicle direction to keep the straight line. Great part of asymmetries in the vehicle is avoidable due to building quality, correct maintenance, and others. However, an unequal loading condition on the transversal direction of the vehicle is very common: the vehicle occupied only by the driver is a usual condition. This circumstance creates a load asymmetry that can induces the brake pull phenomena. This study aims to create and validate a virtual toll capable of representing the brake pull phenomena caused by a loading asymmetry. A vehicle modeled in multibody dynamics technique representing the vehicle mass inertias, suspension mechanisms kinematics, tire behavior and
Terra, Rafael Tedim
Semi-Active Control Strategy of Shimmy of Straddle-Type Monorail Vehicle and Its Effectiveness Analysis2023-01-707612/31/2023
As an important way of energy saving and environmental protection, the lateral stability of straddle-type monorail vehicle (STMV) has attracted more and more attention. In order to solve this problem, a semi-active lateral control strategy of STMV dynamic model based on magnetorheological fluid damper is proposed. The inverse model of magnetorheological damper is constructed by neural network. An adaptive neural fuzzy algorithm for STMV dynamic model based on body acceleration and velocity feedback is designed, and its feasibility is verified by Kalman filter method. Through the simulation comparison of lateral acceleration and yaw angular acceleration, the control method has good measurement accuracy and can meet the needs of practical engineering measurement. It provides a method and basis for the stability and effectiveness of STMV swing semi-active control.
Zhou, Junchao, Huang, Shangwu, Gao, Jianjie
Bi-stability of the Wake Flow of a Hatchback Car under Zero Yaw Angle Condition15-17-02-000712/09/2023
The aerodynamic performance of automobile especially drag and lift was largely determined by the wake flow, which is three-dimensional, unsteady, and turbulent. The styling of the rear back of the vehicle body has much influence on the wake flow structure, typically including squareback, notchback, and hatchback. Bi-stability of the wake flow of vehicle body makes the aerodynamic force oscillating, which affects the energy consumption and driving stability. This article investigates the bi-stability of wake flow of a hatchback SUV in full-scale automotive wind tunnel. Both aerodynamic force and surface pressure on the rear back of the vehicle were measured. Time series of aerodynamic force and pressure footprint are used to confirm the existence of bi-stability. The effects of some sensitive factors on the bi-stability have been analyzed. The results show that for the given condition with bi-stability phenomenon existing, the change of drag and lift can be 6.36% and 111%, respectively
Yuan, Haidong, Wang, Haiyang, Fan, Guangjun
Assisted Steering Control for Distributed Drive Electric Vehicles Based on Combination of Driving and Braking2023-01-701210/30/2023
This paper presents a low-speed assisted steering control approach for distributed drive electric vehicles. When the vehicle is driven at low speed, the braking of the inner-rear wheel is combined with differential drive to reduce the turning radius. A hierarchical control structure has been designed to achieve comprehensive control. The upper-level controller tracks the expected yaw rate and vehicle side-slip angle through a Linear Quadratic Regulator (LQR) algorithm. The desired yaw rate and vehicle side-slip angle are obtained according to the reference vehicle model, which can be regulated by the driver through the accelerator pedal. The lower-level controller uses a quadratic programming algorithm to distribute the yaw moment and driving moment to each wheel, aiming to minimize tire load rate variance. Simulation and real vehicle tests compare three steering modes: front-wheel steering only, front-wheel steering + differential drive assisted steering, and front-wheel steering
Wu, Dongmei, Wang, Cheng, Du, Changqing, Zhang, Yichao
Analytical and Experimental Handling Performance of Ultra-Efficient Lightweight Vehicles2023-24-013508/28/2023
The rising environmental awareness has led to a growing interest in electric and lightweight vehicles. Four-wheeled Ultra-Efficient Lightweight Vehicles (UELVs) have the potential to improve the quality of urban life, reduce environmental impact and make efficient use of land. However, the safety of these vehicles in terms of dynamic behaviour needs to be better understood. This paper aims to provide a quantitative assessment of the handling behaviour of UELVs. An analytical single-track model and a numerical simulation by VI-CarRealTime are analysed to evaluate the dynamic performance of a UELV compared to a city car. This analysis shows that the lightweight vehicle has a higher readiness (i.e. lower reaction time to yaw rate) for step steering and lower steering effort (i.e. higher steady-state value). Experimental analysis through real-time driving sessions on the Dynamic Driving Simulator assesses vehicle responses and subjective perception for different manoeuvres. The driving
Musso, Emanuele, Previati, Giorgio, Mastinu, Gianpiero
Frequency-Domain Analysis and Joint Torque Vibration Suppression Control on Two-Input-Two-Output Torque Difference Amplification Motor Drive System of Electrified Vehicles10-07-03-002006/28/2023
To improve the cornering performance, a torque vectoring differential (TVD) that generates a torque difference between the left and right wheels has been developed. Particularly, the use of multiple electric traction motors can easily achieve this. A TVD with a two-motor-torque difference amplification mechanism (TDA-TVD), which employs a unique alignment of planetary gears, has been studied and it can generate a larger torque difference compared to an individual-wheel-drive (IWD) system in the case of using the equal torque output from the traction motors. However, due to the mechanically complicated driving force transmission system including driveshafts and planetary gears, TDA-TVD is prone to cause torsional vibrations of the driveshaft, and the yaw rate of the vehicle body while differential torque is generated. A previous study derived a dynamic model TDA-TVD and designed a vibration suppression feedforward controller. While the study demonstrated a certain vibration suppression
Fuse, Hiroyuki, Yu, Guangzhi, Fujimoto, Hiroshi, Sawase, Kaoru, Takahashi, Naoki, Takahashi, Ryota, Okamura, Yutaro, Koga, Ryosuke
Items per page:
1 – 50 of 829