This paper deals with vehicle stability during deceleration by using sliding mode anti-lock brake system (ABS) controller, which is designed in this research. The sliding mode controller (SMC) applies to hardware in the loop simulation (HILS) system, which can be performed ABS test with actual hydraulic unit and hydraulic lines that are the same of passenger vehicle, and the experiment results are compared with that of commercial ABS ECU. In this paper, the designed sliding mode ABS controller follows the target slip ratio and secures the vehicle stability for braking on various road conditions and several test modes. The test results show that designed sliding mode ABS controller has better performance than commercial ABS ECU for ensuring vehicle stability as well as holding the target slip ratio.
The subject of this paper is sensor fusion analysis of the tele-operation unmanned vehicle. The whole system target is studied in context of a motor control system, algorithms for the high level control of a tele-operation unmanned vehicle and integration of driving simulator and unmanned vehicle. The master system has a host computer and simulator, the slave system is an electronic vehicle system. The slave vehicle system consists of three parts. First, the laser sensor system for keeping the front sensory system and ultrasonic sensor system for keeping the side avoiding collision. Second, the acceleration system and brake control system for longitudinal motion control. Third, the steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate the unmanned vehicle as a whole-integrated system. We show the experimental result about fixed brake range test, handling performance and acceleration test. The system integrates a driving simulator and the unmanned vehicle.
In this paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance is suggested. The master system has host computer and simulator and slave system is electronic vehicle system. The slave vehicle system consists of three parts. First, laser sensor system for keeping the front sensory system and ultra sonic sensor system for keeping the side range avoiding collision. Second, acceleration system and brake control system for longitudinal motion control. Third, steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate unmanned vehicle as a whole-integrated system. Driving simulator has a 6-DOF motion-base and 3-channel fixed-based simulator They are fully interactive, highly realistic and based on personal computer can be updated easily. Driving simulator is constituted by a image generation system, a sound system, the system for control force loading and the 6-axis Stewart platform for motion base. This paper focuses on the integration of remote controlled unmanned vehicle and driving simulator The vehicle mainly controlled lateral direction and longitudinal direction with actuators for controlling vehicle movement and sensors for closed-loop system.
The integration of a driving simulator and an unmanned vehicle by means of a performance concept is suggested. Autonomous navigation is one of the most difficult research topics, having constraints on mobility and speed, and lack of environmental information. However, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. The master system has a host computer and simulator and the slave system is electronic vehicle system. The slave vehicle system consists of three parts. First, laser sensor system for keeping the front sensory system and ultrasonic sensor system for escaping collision at the side. Second, acceleration system and brake control system for longitudinal motion control. Third, steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate unmanned vehicle as a whole-integrated system. Driving simulator has a 6 degree-of-freedom motion-base and 3-channel fixed-based simulator. They are fully interactive, highly realistic and, based on personal computer, can be updated easily. Driving simulator is constituted by a vision system, a sound system, the system for control force loading and the 6-axis Stewart platform for motion base. This paper focuses on the integration of remote controlled unmanned vehicle and driving simulator. The vehicle mainly controlled lateral direction and longitudinal direction with actuators for controlling vehicle movement and sensors for closed-loop system.
This paper describes development of a new displacement sensor for intelligent suspension system in which the damping force has been controlled by MR fluid. Most of the current vehicle height sensors have been installed at external place of the damper and connected to that by mechanical linkages so far. The developed sensor has a new mechanism which detects movement of the sensor rod same as connecting rod in the suspension damper by using a GMR Sensor and converts it to the relative displacement from an initial position.
This paper presents application method of a sliding mode wheel slip controller for ABS that improves the vehicle response and increases the safety on slippery road. Sliding mode wheel slip controller receives wheel slip ratio, vehicle velocity, longitudinal acceleration, and tire forces from vehicle model to generate braking pressures. In general, two solenoid valves, so called normal open and normal close valves, have been used to generate the hydraulic pressure necessary to generate proper braking force. In this paper, the valve operating method is proposed to implement the sliding mode control output in hydraulic unit of the ABS. The control performance is verified by using a HILS System that has a vehicle braking system controlled with On/Off solenoid valves.
Vehicle steady-state cornering is a significant research area for vehicle handling. The accurate measurement of vehicle yaw rate is important for vehicle dynamics control. Generally, the gyro is used as a yaw rate sensor for measuring the vehicle yaw rate. But it costs too much to be used commercially as an on-vehicle sensor. So we looked for a new sensor called fusion sensor instead of the yaw rate sensor. The fusion sensor is installed in MR-CDC Damper which is included in each wheel of the vehicle. The accelerations of each wheel of the vehicle are used to calculate the yaw rate at the COG of the vehicle. An estimation scheme is proposed to calculate the yaw rate of the vehicle. In this paper, a yaw-roll model is used to describe the vehicle dynamics and the yaw rate error caused by the body side slip angle is also discussed here.
The integration of driving simulator and unmanned vehicle by means of a new concept for better performance through a tele-operation system is suggested. Many innovations on the vehicle provide the appropriate automatic control in the vehicle subsystem for reducing human error. This tendency is toward the unmanned vehicle or the tele-operated vehicle. The master system has a host computer and simulator and the slave system is an electronic vehicle system. The slave vehicle system consists of three parts. First, a laser sensor system for keeping the safety zone from other front vehicles, an ultrasonic sensor system for keeping the side ranges from the lane. Second, an acceleration system and brake control system for longitudinal motion control. Third, a steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate an unmanned vehicle. The driving simulator has a 6 degree-of-freedom motion-base and 3 channel fixed-based simulator. They are fully interactive, highly realistic and based on a personal computer can be updated easily. The driving simulator is constituted by the 6-axes Stewart platform for the motion base. This paper focuses on the integration of a remote controlled unmanned vehicle and driving simulator which is half size and its actuator is an AC servo motor. The vehicle mainly controlled lateral direction and longitudinal direction with actuators for controlling vehicle movement and sensors for a closed-loop system.
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