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4WD control
216
Abstracts/JSAE Review 16 (1995) 211-222
vehicles. The model relevance and validity has been confirmed through experimental data. Additional applications include bond graph models of engine/transmission block dynamics, torque converter, electro-hydraulic clutch control actuators, and different (sub) systems ranging from 4WD power trains to interactive vehicle dynamics and control. These models have been useful for hardware and/or control strategy design and development.
9438358 Force Sensory Information Evaluation for Gear Changing Control for the Disabled Driver Christopher Nwagboso (Bolton Institute/U.K.), pp. 254-259, 4 figs., 7 refs. Driving of road vehicles by disabled and elderly drivers can be physically and mentally demanding tasks if the vehicle is not purposely designed for this class of driver. This is even more the case if the driving task requires changing of gears, especially if the vehicle is fitted with a manual gear system. In this paper the dynamics and sensory information required to effect gear changing by this class of drivers will be evaluated. The force sensory device designed for the experimental analysis is presented. This paper concludes by proposing a neural network for evaluating the sensory information needed for gear change control. 9438367 Numerical Analysis of Minimum-Time Cornering Takehiko Fujioka, Masaaki Kato (The University of Tokyo/Japan), pp. 260-265, 9 figs., 1 table, 4 refs. This paper investigates minimum-time cornering of a vehicle using numerical simulation based on optimal control theory instead of actual driving tests, variable. This paper indicates the results of calculations on how to control a vehicle to pass through a certain combined corner with an inclination in minimum-time. Sequential Conjugate Gradient Restoration Algorithm is used to solve optimal control problem numerically, which is often used to compute the optimal trajectory of a satellite.
9438376 A Control of Backward Maneuverability at Parking Ichiro Kageyama, Atsushi Hirata (Nihon University/Japan), pp. 266-269, 6 figs., 4 refs. This study deals with control methods of parking for a passenger car on align parking. Recently, research has been carried out to try to give unskilled driver's support, and also to try and develop autonomous vehicles. However most of them lacked an actual situation, for example narrow confines, obstacles, and so on. This study examines these missing aspect, using optimal control method when simurations of backward maneuverability for passenger car are carried out with and without swich back control, good results are oftracs. keywords: automatic parking, automatic steering, advanced vehicle control system, backward maneuverability 9438385 Autonomous Parking of Vehicles with Intelligent Fuzzy-Neural Networks Antonio Moran, Masao Nagai (Tokyo University of Agriculture and Technology/Japan), pp. 270-275, 11 figs., 5 refs. This paper presents a new design method of autonomous parking systems by integrating fuzzy systems and neural networks. First a fuzzy driver was designed based on the experience of a human driver and after it was refined by designing a fuzzy-neuro driver. The performance of both the fuzzy driver and fuzzy-neuro driver are analyzed and compared. 9438394 Tire Cornering Characteristics with Braking or Driving Force on Actual Road Mitsuhiro Makita, Shuji Torii (Nissan Motor Co., Ltd./Japan), pp. 276-280, 9 figs., 4 refs. The difference between Magic Formula tire model based on laboratory test and measurement data on various vehicle running conditions in tire side force are compared. Coefficients in Magic Formula tire model, that dominate cornering force in small slip angle region, are modified to identify with actual cornering data in each case. The fluctuation of the
modified coefficients is within 5% even in same tire and measurement system.
9438402 Tire Loads Realized Through Inertia Forces by 4 W S / 4 W D Control Haruo Shimosaka, Kosuke Matsumoto (Meiji University/Japan), pp. 281-286, 6 figs., 2 refs. The purpose of this study is to demonstrate that by utilizing the centrifugal forces of a vehicle in longitudinal and lateral directions, we can control the posture of the pitching and the rolling motion, in order to transfer the vertical load in the tires. In other words, with the control of the side slip angle, we can control the size of frictional circle by 4WS. After finishing the transfer of the tire loads, we can obtain the larger or smaller frictional circles, and then we can control the magnitude of the forces generated by the tires, in the longitudinal and the lateral direction respectively, within the frictional circle. Utilizing this control, we can make the vehicle run in the stable region of the tires and as a result, improve the stability of the vehicle when turning. 9438411 Analysis on Vehicle Stability in Critical Cornering Using Phase-Plane Method Shoji Inagaki, Ikuo Kushiro, Masaki Yamamoto (Toyota Motor Corp./Japan), pp. 287-292, 14 figs., 4 refs. Analysis on the vehicle dynamic stability in critical cornering has been carried out using the phase-plane method with the couple of the state variables, the vehicle side slip angle /3 and its angular velocity /3. The /3-/~ phase-plane analysis is more effective to represent the vehicle non-linear stability characteristic than the convetional state-plane method with the state variables fl and the yaw velocity y. The mechanism of stabilizing by counter-steering and lack of vehicle stability by excessive steering input can be explained well by the change of the characteristic on the fl-/3 phase-plane. Then it has been verified that the direct yaw moment control system by active braking with the algorithm based on the phase-plane analyses makes the vehicle stability much more in critical cornering by an experimental vehicle. 9438420 Application of a Preview Controlled Active Suspension to a (Non)linear 2-D Truck Model R.G.M. Huisman, F.E. Veldpaus, J.G.A.M. van Heck, J.J. Kok (Eindhoven University of Technology/The Netherlands), pp. 293-298, 7 figs., 17 refs. An active suspension with 'wheelbase preview' is applied to the rear axle of the tractor of a six-DOF, two-dimensional tractor-semitrailer model. The preview and state information, required to calculate the actuator force, are reconstructed from simple measurements of chassis accelerations and suspension deflections. The performance of the active suspension is evaluated in simulations for both a linear and a nonlinear truck model. It can be concluded that the active suspension combined with the reconstruction technique improves the chassis accelerations at the rear wheels of the tractor significantly with only a small increase of the dynamic tire force and suspension deflection. Moreover, the suspension appears to be robust for the nonlinearities introduced. However, the simple observer model causes disappointing results with respect to the dynamic tire force and suspension deflection. 9438439 Preview Control of Active Suspension Using Disturbance of Front Wheel Yoshiaki Araki, Masahiro Oya (Kyushu Institute of Technology/Japan), Hiroshi Harada (National Defense Academy/Japan), pp. 299-304, 10 figs., 9 refs. The main body of this investigation focuses on the development of an analytical and numerical design procedure of an effective controller of an active vehicle suspension system, using a preview control by front wheel disturbance. The theoretical aspects of an optimal preview control using with a front road disturbance which is identified from a response of front-wheel is presented. The performance indices employed are weighted sum of a pitching angle and a bouncing of sprung mass with two wheeled two degree-of-freedom half car model. Computer simulation results show
Abstracts/JSAE Review 16 (1995) 211-222
vehicles. The model relevance and validity has been confirmed through experimental data. Additional applications include bond graph models of engine/transmission block dynamics, torque converter, electro-hydraulic clutch control actuators, and different (sub) systems ranging from 4WD power trains to interactive vehicle dynamics and control. These models have been useful for hardware and/or control strategy design and development.
9438358 Force Sensory Information Evaluation for Gear Changing Control for the Disabled Driver Christopher Nwagboso (Bolton Institute/U.K.), pp. 254-259, 4 figs., 7 refs. Driving of road vehicles by disabled and elderly drivers can be physically and mentally demanding tasks if the vehicle is not purposely designed for this class of driver. This is even more the case if the driving task requires changing of gears, especially if the vehicle is fitted with a manual gear system. In this paper the dynamics and sensory information required to effect gear changing by this class of drivers will be evaluated. The force sensory device designed for the experimental analysis is presented. This paper concludes by proposing a neural network for evaluating the sensory information needed for gear change control. 9438367 Numerical Analysis of Minimum-Time Cornering Takehiko Fujioka, Masaaki Kato (The University of Tokyo/Japan), pp. 260-265, 9 figs., 1 table, 4 refs. This paper investigates minimum-time cornering of a vehicle using numerical simulation based on optimal control theory instead of actual driving tests, variable. This paper indicates the results of calculations on how to control a vehicle to pass through a certain combined corner with an inclination in minimum-time. Sequential Conjugate Gradient Restoration Algorithm is used to solve optimal control problem numerically, which is often used to compute the optimal trajectory of a satellite.
9438376 A Control of Backward Maneuverability at Parking Ichiro Kageyama, Atsushi Hirata (Nihon University/Japan), pp. 266-269, 6 figs., 4 refs. This study deals with control methods of parking for a passenger car on align parking. Recently, research has been carried out to try to give unskilled driver's support, and also to try and develop autonomous vehicles. However most of them lacked an actual situation, for example narrow confines, obstacles, and so on. This study examines these missing aspect, using optimal control method when simurations of backward maneuverability for passenger car are carried out with and without swich back control, good results are oftracs. keywords: automatic parking, automatic steering, advanced vehicle control system, backward maneuverability 9438385 Autonomous Parking of Vehicles with Intelligent Fuzzy-Neural Networks Antonio Moran, Masao Nagai (Tokyo University of Agriculture and Technology/Japan), pp. 270-275, 11 figs., 5 refs. This paper presents a new design method of autonomous parking systems by integrating fuzzy systems and neural networks. First a fuzzy driver was designed based on the experience of a human driver and after it was refined by designing a fuzzy-neuro driver. The performance of both the fuzzy driver and fuzzy-neuro driver are analyzed and compared. 9438394 Tire Cornering Characteristics with Braking or Driving Force on Actual Road Mitsuhiro Makita, Shuji Torii (Nissan Motor Co., Ltd./Japan), pp. 276-280, 9 figs., 4 refs. The difference between Magic Formula tire model based on laboratory test and measurement data on various vehicle running conditions in tire side force are compared. Coefficients in Magic Formula tire model, that dominate cornering force in small slip angle region, are modified to identify with actual cornering data in each case. The fluctuation of the
modified coefficients is within 5% even in same tire and measurement system.
9438402 Tire Loads Realized Through Inertia Forces by 4 W S / 4 W D Control Haruo Shimosaka, Kosuke Matsumoto (Meiji University/Japan), pp. 281-286, 6 figs., 2 refs. The purpose of this study is to demonstrate that by utilizing the centrifugal forces of a vehicle in longitudinal and lateral directions, we can control the posture of the pitching and the rolling motion, in order to transfer the vertical load in the tires. In other words, with the control of the side slip angle, we can control the size of frictional circle by 4WS. After finishing the transfer of the tire loads, we can obtain the larger or smaller frictional circles, and then we can control the magnitude of the forces generated by the tires, in the longitudinal and the lateral direction respectively, within the frictional circle. Utilizing this control, we can make the vehicle run in the stable region of the tires and as a result, improve the stability of the vehicle when turning. 9438411 Analysis on Vehicle Stability in Critical Cornering Using Phase-Plane Method Shoji Inagaki, Ikuo Kushiro, Masaki Yamamoto (Toyota Motor Corp./Japan), pp. 287-292, 14 figs., 4 refs. Analysis on the vehicle dynamic stability in critical cornering has been carried out using the phase-plane method with the couple of the state variables, the vehicle side slip angle /3 and its angular velocity /3. The /3-/~ phase-plane analysis is more effective to represent the vehicle non-linear stability characteristic than the convetional state-plane method with the state variables fl and the yaw velocity y. The mechanism of stabilizing by counter-steering and lack of vehicle stability by excessive steering input can be explained well by the change of the characteristic on the fl-/3 phase-plane. Then it has been verified that the direct yaw moment control system by active braking with the algorithm based on the phase-plane analyses makes the vehicle stability much more in critical cornering by an experimental vehicle. 9438420 Application of a Preview Controlled Active Suspension to a (Non)linear 2-D Truck Model R.G.M. Huisman, F.E. Veldpaus, J.G.A.M. van Heck, J.J. Kok (Eindhoven University of Technology/The Netherlands), pp. 293-298, 7 figs., 17 refs. An active suspension with 'wheelbase preview' is applied to the rear axle of the tractor of a six-DOF, two-dimensional tractor-semitrailer model. The preview and state information, required to calculate the actuator force, are reconstructed from simple measurements of chassis accelerations and suspension deflections. The performance of the active suspension is evaluated in simulations for both a linear and a nonlinear truck model. It can be concluded that the active suspension combined with the reconstruction technique improves the chassis accelerations at the rear wheels of the tractor significantly with only a small increase of the dynamic tire force and suspension deflection. Moreover, the suspension appears to be robust for the nonlinearities introduced. However, the simple observer model causes disappointing results with respect to the dynamic tire force and suspension deflection. 9438439 Preview Control of Active Suspension Using Disturbance of Front Wheel Yoshiaki Araki, Masahiro Oya (Kyushu Institute of Technology/Japan), Hiroshi Harada (National Defense Academy/Japan), pp. 299-304, 10 figs., 9 refs. The main body of this investigation focuses on the development of an analytical and numerical design procedure of an effective controller of an active vehicle suspension system, using a preview control by front wheel disturbance. The theoretical aspects of an optimal preview control using with a front road disturbance which is identified from a response of front-wheel is presented. The performance indices employed are weighted sum of a pitching angle and a bouncing of sprung mass with two wheeled two degree-of-freedom half car model. Computer simulation results show