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Vehicle Lateral Driving Stability Regions: Estimation, Analysis, and Control.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Vehicle Lateral Driving Stability Regions: Estimation, Analysis, and Control./
作者:	Huang, Yiwen.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	202 p.
附註:	Source: Dissertations Abstracts International, Volume: 82-12, Section: B.
Contained By:	Dissertations Abstracts International82-12B.
標題:	Mechanical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28491743
ISBN:	9798738623592

Vehicle Lateral Driving Stability Regions: Estimation, Analysis, and Control.
Huang, Yiwen.

Vehicle Lateral Driving Stability Regions: Estimation, Analysis, and Control. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 202 p.

Source: Dissertations Abstracts International, Volume: 82-12, Section: B.

Thesis (Ph.D.)--Arizona State University, 2021.

This item must not be sold to any third party vendors.

In the development of autonomous ground vehicles (AGVs), how to guarantee vehicle lateral stability is one of the most critical aspects. Based on nonlinear vehicle lateral and tire dynamics, new driving requirements of AGVs demand further studies and analyses of vehicle lateral stability control strategies. To achieve comprehensive analyses and stability-guaranteed vehicle lateral driving control, this dissertation presents three main contributions.First, a new method is proposed to estimate and analyze vehicle lateral driving stability regions, which provide a direct and intuitive demonstration for stability control of AGVs. Based on a four-wheel vehicle model and a nonlinear 2D analytical LuGre tire model, a local linearization method is applied to estimate vehicle lateral driving stability regions by analyzing vehicle local stability at each operation point on a phase plane. The obtained stability regions are conservative because both vehicle and tire stability are simultaneously considered. Such a conservative feature is specifically important for characterizing the stability properties of AGVs.Second, to analyze vehicle stability, two novel features of the estimated vehicle lateral driving stability regions are studied. First, a shifting vector is formulated to explicitly describe the shifting feature of the lateral stability regions with respect to the vehicle steering angles. Second, dynamic margins of the stability regions are formulated and applied to avoid the penetration of vehicle state trajectory with respect to the region boundaries. With these two features, the shiftable stability regions are feasible for real-time stability analysis.Third, to keep the vehicle states (lateral velocity and yaw rate) always stay in the shiftable stability regions, different control methods are developed and evaluated. Based on different vehicle control configurations, two dynamic sliding mode controllers (SMC) are designed. To better control vehicle stability without suffering chattering issues in SMC, a non-overshooting model predictive control is proposed and applied. To further save computational burden for real-time implementation, time-varying control-dependent invariant sets and time-varying control-dependent barrier functions are proposed and adopted in a stability-guaranteed vehicle control problem. Finally, to validate the correctness and effectiveness of the proposed theories, definitions, and control methods, illustrative simulations and experimental results are presented and discussed.

ISBN: 9798738623592Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Autonomous vehicle

Vehicle Lateral Driving Stability Regions: Estimation, Analysis, and Control.
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245 1 0 $a Vehicle Lateral Driving Stability Regions: Estimation, Analysis, and Control.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 202 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-12, Section: B.
500 $a Advisor: Chen, Yan.
502 $a Thesis (Ph.D.)--Arizona State University, 2021.
506 $a This item must not be sold to any third party vendors.
520 $a In the development of autonomous ground vehicles (AGVs), how to guarantee vehicle lateral stability is one of the most critical aspects. Based on nonlinear vehicle lateral and tire dynamics, new driving requirements of AGVs demand further studies and analyses of vehicle lateral stability control strategies. To achieve comprehensive analyses and stability-guaranteed vehicle lateral driving control, this dissertation presents three main contributions.First, a new method is proposed to estimate and analyze vehicle lateral driving stability regions, which provide a direct and intuitive demonstration for stability control of AGVs. Based on a four-wheel vehicle model and a nonlinear 2D analytical LuGre tire model, a local linearization method is applied to estimate vehicle lateral driving stability regions by analyzing vehicle local stability at each operation point on a phase plane. The obtained stability regions are conservative because both vehicle and tire stability are simultaneously considered. Such a conservative feature is specifically important for characterizing the stability properties of AGVs.Second, to analyze vehicle stability, two novel features of the estimated vehicle lateral driving stability regions are studied. First, a shifting vector is formulated to explicitly describe the shifting feature of the lateral stability regions with respect to the vehicle steering angles. Second, dynamic margins of the stability regions are formulated and applied to avoid the penetration of vehicle state trajectory with respect to the region boundaries. With these two features, the shiftable stability regions are feasible for real-time stability analysis.Third, to keep the vehicle states (lateral velocity and yaw rate) always stay in the shiftable stability regions, different control methods are developed and evaluated. Based on different vehicle control configurations, two dynamic sliding mode controllers (SMC) are designed. To better control vehicle stability without suffering chattering issues in SMC, a non-overshooting model predictive control is proposed and applied. To further save computational burden for real-time implementation, time-varying control-dependent invariant sets and time-varying control-dependent barrier functions are proposed and adopted in a stability-guaranteed vehicle control problem. Finally, to validate the correctness and effectiveness of the proposed theories, definitions, and control methods, illustrative simulations and experimental results are presented and discussed.
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650 4 $a Automotive engineering. $3 2181195
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653 $a Safety-guaranteed
653 $a Stability
653 $a Vehicle dynamics
653 $a Autonomous Ground Vehicles
690 $a 0548
690 $a 0540
710 2 $a Arizona State University. $b Mechanical Engineering. $3 1675155
773 0 $t Dissertations Abstracts International $g 82-12B.
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791 $a Ph.D.
792 $a 2021
793 $a English
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