Douglas Scott Rhode

Combined wheel torque and steering control based on model predictive controller using a simplified tyre model

This paper presents a vehicle chassis control system based on a model predictive control method that controls both front steer and wheel torques at each wheel and is developed to enhance vehicle yaw motion and the ability to track the desired trajectory. A computationally efficient simplified non-linear tyre model, which is easy to implement in the control algorithms, is used along with an 8 degree of freedom (DOF) vehicle model. The performance of this controller is compared to that based on the well known Magic Formula tyre model. The effectiveness and limitations of the proposed controller are discussed through simulation.

Wheel torque controller development using a simplified tire model for vehicle handling enhancement

A tire model is an essential element in the vehicle controller development and various complexities of tire models have been developed and used. It is highly desirable for the control systems to use a tire model that is computationally efficient and easy to implement in control algorithms while providing desired performance. In this paper, a wheel torque controller was developed using a non-linear predictive control theory, 8 degree of freedom vehicle model, and a simplified nonlinear tire model in order to control the vehicle yaw rate and side slip angle. The performance of this controller was compared to that based on well known Magic Formula tire model. The effectiveness and limitations of the proposed controller were discussed through simulation.Copyright

ROAD ROUGHNESS PREVIEW WITH DRIVE HISTORY

A vehicle includes a sensor configured to detect a first road feature, an adjustable suspension system, and a processing device. The processing device is configured to determine, using a drive history map, a location of the vehicle based on the first road feature and apply a suspension profile to the suspension system. The suspension profile is associated with a second road feature identified by the drive history map, which is at a different location from the first road feature.

Design of Orientation Controllers for Backing-Up Maneuvers of Tractor-Trailer Vehicles in the Presence of Actuator Saturation

This paper presents a development of a robust steering controller that can be used for backing up maneuver of tractor-trailer vehicles. Tractor-trailer vehicles are naturally unstable when backing up maneuvers are performed. It is even more challenging for an inexperience driver to backing a trailer along a straight line since small errors in steering are amplified and the vehicle often departs from the desired path. Therefore it is desirable to develop a control system that can be used for such a scenario. In this paper, a robust controller is developed by using Lyapunov method based on a kinematic vehicle model for an application of tractor-trailer vehicles operating at a low speed in which state and input constraints are explicitly considered. The simulation results show the effectiveness of the proposed controller.© 2012 ASME

Model Predictive Control (MPC) Based Combined Wheel Torque and Steering Control Using a Simplified Tire Model

Wheel torque control and active front steer are effective means of improving vehicle handling and stability. In this paper, a vehicle chassis control system that controls both wheel torques at each wheel and front steer has been developed using model predictive control in order to enhance vehicle yaw motion and ability to track the desired trajectory. A simplified nonlinear tire model that is computationally efficient and easy to implement in the control algorithms and an 8 degree of freedom (DOF) vehicle model are used in the controller. The performance of this controller is compared to that based on well known Magic Formula tire model. The effectiveness and limitations of the proposed controller are discussed through simulation.Copyright