Autopilot Design for Vehicle Cornering Through Icy Roads

Date

2018-03-01

Author

Ahiska, Kenan
Özgören, Mustafa Kemal
Leblebicioğlu, Mehmet Kemal

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

127
views

0
downloads

In this paper, vehicle cornering along roads with low friction coefficient is studied, and an autopilot design is proposed to satisfy desired handling performance. A novel hierarchical optimization approach is presented to generate offline solutions for vehicle cornering problem along roads with different friction coefficients and radii of curvature. A vehicle status definition is introduced as a function of vehicle states that contains data to indicate handling performance. At each control instant, vehicle statuses are calculated, and at the end of each scenario, they are clustered with k-means clustering technique. The vehicle status cluster centres are associated with the applied control commands. The pair formed by the vehicle status at cluster centre and the control command corresponds to a rule that produces the unique control command to be applied as a function of the vehicle status. The autopilot is constructed by a convex combination of these rules. This basic idea of autopilot design has been extended for motion along a specific rotation radius and friction coefficient; the control commands corresponding to arbitrary scenario parameters are obtained by a runtime scheduling of the weighted interpolation among the control commands corresponding to different scenario parameters. The proposed autopilot design is verified with vehicle motion under offline optimized control commands. The autopilot is also tested along roads with varying friction coefficient, and it is shown that the vehicle satisfies the desired handling performance.

Subject Keywords

Electric vehicles, Vehicle handling, Cornering autopilot, Skidding autopilot

URI

https://hdl.handle.net/11511/32274

Journal

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY

DOI

https://doi.org/10.1109/tvt.2017.2765245

Collections

Graduate School of Natural and Applied Sciences, Article

Suggestions

OpenMETU
Core

Steering strategies for multi-axle vehicles Bayar, Kerem; Ünlüsoy, Yavuz Samim (2008-01-01) The object of this study is to extend 4WS idea to an n-axle vehicle in general and to simulate sonic multi-axle vehicles with the derived strategies in an attempt to determine the best steering strategy. By extending the strategies used for four-wheel steering two-axle vehicles which have been extensively studied in literature, general strategies are established for an n-axle vehicle. Using integrated nonlinear ride and handling models in Matlab & Simulink, it is shown that lateral acceleration and yaw velo...
Steering dynamics of tracked vehicles Özdemir, Mehmet Nuri; Ünlüsoy, Yavuz Samim; Department of Mechanical Engineering (2016) The main objective of this thesis study is the development of a general transient steering model for tracked vehicles which is simple, accurate, and simulation results are in agreement with test results to a satisfactory level. For modeling Matlab/Simulink platform is utilized. The model represents a general tracked vehicle having rear or front sprockets, with variable centre of gravity and wheel positions, and number of wheels. The vehicle hull is modelled as a rigid body having 3 degree of freedom; transl...
Lane Change Scheduling for Autonomous Vehicles Schmidt, Klaus Verner; Schmidt, Şenan Ece (2016-05-20) The subject of this paper is the coordination of lane changes of autonomous vehicles on a two-lane road segment before reaching a given critical position. We first develop an algorithm that performs a lane change of a single vehicle in the shortest possible time. This algorithm is then applied iteratively in order to handle all lane changes required on the considered road segment while guaranteeing traffic safety. Various example scenarios illustrate the functionality of our algorithm.
Steering optimization for multiaxle vehicles with multiaxle steering Yazıcı, Cahit Bartu; Kutluay, Emir; Ünlüsoy, Yavuz Samim (2021-01-01) In this work, a method for obtaining a set of optimized maximum wheel steering angles for a multiaxle vehicle with multiaxle steering is proposed. During low-speed operations, multiaxle vehicles must have a specified minimum turning radius to traverse crowded areas. The conventional geometrically correct steering configuration may not result in the desired turning radius due to constraints on the maximum steering angles. In such cases, large tire lateral slip angles may be introduced to decrease the turning...
Prediction of automobile tire cornering force characteristics by finite element modeling and analysis Tönük, Ergin; Ünlüsoy, Yavuz Samim (2001-05-01) In this study, a detailed finite element model of a radial automobile tire is constructed for the prediction of cornering force characteristics during the design stage. The nonlinear stress-strain relationship of rubber as well as a linear elastic approximation, reinforcement, large displacements, and frictional ground contact are modeled. Validity of various simplifications is checked. The cornering force characteristics obtained by the finite element tire model are verified on the experimental setup const...

Citation Formats

K. Ahiska, M. K. Özgören, and M. K. Leblebicioğlu, “Autopilot Design for Vehicle Cornering Through Icy Roads,” IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, pp. 1867–1880, 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/32274.