liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Studying the Influence of Roll and Pitch Dynamics in Optimal Road-Vehicle Maneuvers
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, The Institute of Technology.
Department of Automatic Control, Lund University, Lund, Sweden.
Department of Automatic Control, Lund University, Lund, Sweden.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, The Institute of Technology.
Show others and affiliations
2013 (English)Conference paper, Published paper (Other academic)
Abstract [en]

A comparative analysis shows how vehicle motion models of different complexity, capturing various characteristics, influence the solution when used in time-critical optimal maneuvering problems. Vehicle models with combinations of roll and pitch dynamics as well as load transfer are considered, ranging from a single-track model to a double-track model with roll and pitch dynamics and load transfer. The optimal maneuvers in a 90◦-turn and a double lane-change scenario are formulated as minimum-time optimization problems, and are solved using numerical optimization software. The results obtained with the different models show that variables potentially important for safety systems, such as the yaw rate, slip angle, and geometric path, are qualitatively the same. Moreover, the numeric differences are mostly within a few percent. The results also indicate that although input torques differ about 50–100 % for certain parts of the maneuver between the most and least complex model considered, the resulting vehicle motions obtained are similar, irrespective of the model. Our main conclusion isthat this enables the use of low-order models when designing the onboard optimization-based safety systems of the future.

Place, publisher, year, edition, pages
2013.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-94205OAI: oai:DiVA.org:liu-94205DiVA: diva2:630286
Conference
The 23rd International Symposium on Dynamics of Vehicles on Roads and Tracks, 19-23 August, Qingdao, China
Available from: 2013-06-18 Created: 2013-06-18 Last updated: 2013-06-18Bibliographically approved
In thesis
1. Modeling and Optimization for Critical Vehicle Maneuvers
Open this publication in new window or tab >>Modeling and Optimization for Critical Vehicle Maneuvers
2013 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

As development in sensor technology, situation awareness systems, and computational hardware for vehicle systems progress, an opportunity for more advanced and sophisticated vehicle safety-systems arises. With the increased level of available information---such as position on the road, road curvature and knowledge about surrounding obstacles---future systems could be seen utilizing more advanced controls, exploiting at-the-limit behavior of the vehicle. Having this in mind, optimization methods have emerged as a powerful tool for offline vehicle-performance evaluation, providing inspiration to new control strategies, and by direct implementation in on-board systems. This will, however, require a careful choice of modeling and objectives, since the solution to the optimization problem will rely on this.

With emphasis on vehicle modeling for optimization-based maneuvering applications, a vehicle-dynamics testbed has been developed. Using this vehicle in a series of experiments, most extensively in a double lane-change maneuver, verified the functionality and capability of the equipment. Further, a comparative study was performed, considering vehicle models based on the single-track model, extended with, e.g., tire-force saturation, tire-force lag and roll dynamics. The ability to predict vehicle behavior was evaluated against measurement data from the vehicle testbed.

A platform for solving vehicle-maneuvering optimization-problems has been developed, with state-of-the-art optimization tools, such as JModelica.org and Ipopt. This platform is utilized for studies concerning the influence different vehicle-model configurations have on the solution to critical maneuvering problems. In particular, different tire modeling approaches, as well as vehicle-chassis models of various complexity, are investigated. Also, the influence different road-surface conditions-e.g., asphalt, snow and ice-have on the solution to time-optimal maneuvers is studied.

The results show that even for less complex models-such as a single-track model with a Magic Formula based tire-model-accurate predictions can be obtained when compared to measurement data. The general observation regarding vehicle modeling for the time-critical maneuvers is similar; even the least complex models can be seen to capture certain characteristics analogous to those of higher complexity.

Analyzing the results from the optimization problems, it is seen that the overall dynamics, such as resultant forces and yaw moment, obtained for different model configurations, correlates very well. For different road surfaces, the solutions will of course differ due to the various levels of tire-forces being possible to realize. However, remarkably similar vehicle paths are obtained, regardless of surface. These are valuable observations, since they imply that models of less complexity could be utilized in future on-board optimization-algorithms, to generate, e.g., yaw moment and vehicle paths. In combination with additional information from enhanced situation-awareness systems, this enables more advanced safety-systems to be considered for future vehicles.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2013. 108 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1608
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-94010 (URN)LIU-TEK-LIC-2013:42 (Local ID)978-91-7519-561-2 (ISBN)LIU-TEK-LIC-2013:42 (Archive number)LIU-TEK-LIC-2013:42 (OAI)
Presentation
2013-08-16, Visionen, B-huset, Campus Valla, Linköpings universitet, Linköping, 10:15 (Swedish)
Opponent
Supervisors
Available from: 2013-06-14 Created: 2013-06-14 Last updated: 2013-06-25Bibliographically approved

Open Access in DiVA

No full text

Authority records BETA

Lundahl, KristofferÅslund, JanNielsen, Lars

Search in DiVA

By author/editor
Lundahl, KristofferÅslund, JanNielsen, Lars
By organisation
Vehicular SystemsThe Institute of Technology
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 483 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf