Lateral tracking control of all-wheel steering vehicles with intelligent tires
Department of Electrical Engineering, Linköping University（林奈大学电气工程系）；Department of Engineering Cybernetics, NTNU（挪威技术大学工程 cybernetics 系）；IEEE Publication Technology Department（IEEE出版技术部）
Luigi Romano, Ole Morten Aamo, Jan Åslund, Erik Frisk
备注：
16 pages, 12 figures. Under review at IEEE Transactions on Intelligent Vehicles
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the tire-road interface. Smart tire technologies have emerged as a promising tool for sensing key variables such as road friction, tire pressure, and wear states, and for estimating kinematic and dynamic states like vehicle speed and tire forces. However, most existing estimation and control algorithms rely on empirical correlations or machine learning approaches, which require extensive calibration and can be sensitive to variations in operating conditions. In contrast, model-based techniques, which leverage infinite-dimensional representations of tire dynamics using partial differential equations (PDEs), offer a more robust approach. This paper proposes a novel model-based, output-feedback lateral tracking control strategy for all-wheel steering vehicles that integrates distributed tire dynamics with smart tire technologies. The primary contributions include the suppression of micro-shimmy phenomena at low speeds and path-following via force control, achieved through the estimation of tire slip angles, vehicle kinematics, and lateral tire forces. The proposed controller and observer are based on formulations using ODE-PDE systems, representing rigid body dynamics and distributed tire behavior. This work marks the first rigorous control strategy for vehicular systems equipped with distributed tire representations in conjunction with smart tire technologies.
University of Michigan（密歇根大学）；Ford Motor Company（福特汽车公司）
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate road feedback and reduce driver effort. Further, estimates of the components of rack force (arising, for example, due to steering angle and road profile) can be used to separately compensate for each component and thereby enhance steering feel. In this paper, we present three vehicle and tire model-based rack force estimators that utilize sensed steering angl…
Intelligent tires can be used for a wide array of applications ranging from tire pressure monitoring to analyzing tire/road interactions, wheel loading, and tread wear monitoring. In this article, we develop a measurement system for intelligent tires equipped with a 3-D piezoresistive force sensor. The output of the sensor is segmented into tire revolution cycles, which are then represented by a transformation relying on adaptive Hermite functions. The underlying idea behind this step is to extract relevant features which capture tire dynamics. Then we evaluate the proposed measurement system …
Constrained Optimization-Based Yaw-Rate Reference Map Generation for Active Rear Steering Control of Four-Wheel Steering Vehicles
Cho Chun Shik Graduate School of Mobility, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院曹春植移动研究生院）；Hyundai Motor Company (HMC)（现代汽车公司）
Motion Planning and Control of an Overactuated 4-Wheel Drive with Constrained Independent Steering
Nokia Bell Labs, France（诺基亚贝尔实验室，法国）；Nokia Bell Labs, USA（诺基亚贝尔实验室，美国）；New York University, Tandon School of Engineering, Mechanical and Aerospace Engineering Department（纽约大学，塔能工程学院，机械与航空航天工程系）
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking. Vehicle lateral stability control means keeping the vehicle yaw rate and the vehicle side slip angle in desired values. For this reason, a model-based controller is designed. The desired yaw rate is obtained from the single track vehicle model and the desired side slip angle is chosen as zero. Controller design consists of two parts, lower and upper controller…
The performance of vehicle active safety systems is dependent on the friction force arising from the contact of tires and the road surface. Therefore, an adequate knowledge of the tire-road friction coefficient is of great importance to achieve a good performance of different vehicle control systems. This paper deals with the tire-road friction coefficient estimation problem through the knowledge of lateral tire force. A time delay neural network (TDNN) is adopted for the proposed estimation design. The TDNN aims at detecting road friction coefficient under lateral force excitations avoiding t…
There is ample evidence in the automotive cybersecurity literature that the car brake ECUs can be maliciously reprogrammed. Motivated by such threat, this paper investigates the capabilities of an adversary who can directly control the frictional brake actuators and would like to induce wheel lockup conditions leading to catastrophic road injuries. This paper demonstrates that the adversary despite having a limited knowledge of the tire-road interaction characteristics has the capability of driving the states of the vehicle traction dynamics to a vicinity of the lockup manifold in a finite tim…
Corpy & Co., Inc.（Corpy公司）；The University of Tokyo（东京大学）
Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of distracted drivers. Recently, adaptive shared steering control based on the physiological status of the driver has been developed, although its effect on distracted driver behavior remains unclear. To this end, a high-fidelity driving simulator experiment was conducted involving 18 participants performing double lane changes. The experimental conditions compri…
Institute of Industrial Science, The University of Tokyo（东京大学工业科学研究所）；Technical University of Darmstadt（达姆施塔特工业大学）
Shared steering control has been developed to reduce driver workload while keeping the driver in the control loop. A driver could integrate visual sensory information from the road ahead and haptic sensory information from the steering wheel to achieve better driving performance. Previous studies suggest that, compared with adaptive automation authority, fixed automation authority is not always appropriate with respect to human factors. This paper focuses on designing an adaptive shared steering control system via sEMG (surface electromyography) measurement from the forearm of the driver, and …
Characterizing gaussian mixture of motion modes for skid-steer vehicle state estimation
Department of Automotive Engineering,Clemson University, SC, 29634, USA（汽车工程系，克莱姆森大学）；U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI 48092, USA（美国陆军 DEVCOM 地面车辆系统中心）
Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular for differential wheeled vehicles since the vehicle velocity and direction are controlled with only two actuating wheels. This problem gets more challenging when complex curves should be realized by the user. A novel assistive controller with safety constraints is needed to address these problems. Also, the classic control methods mostly require the desired s…
The force transmitted from the front tires and tie rods to the steering rack of a vehicle, called the rack force, significantly influences the torque experienced by a driver at the steering wheel. As a result, estimates of rack force are used in a wide variety of advanced driver assist systems. Existing methods for producing rack force estimates are either susceptible to steering system disturbances or are only applicable for driving on roads with low frequency profile variations such as road slopes. In this paper we present a model that can produce disturbance-free rack force estimates for dr…
The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost. It replaces conventional steering wheels with braking actuators and conventional drive wheels with a single omni-directional wheel. This makes it fall under the category of under-actuated mobile robots. The brakes have only two states, ON and OFF, resulting in discontinuous dynamics. This inspires the use of a discontinuous control law to control the system.…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other over communication networks. The proposed supervisory control scheme is composed of a high-level controller that creates a virtual control input vector and a low-level control allocator that distributes the virtual control effort among redundant actuators. Virtual control input incorporates the required traction force, yaw, pitch, and roll moment corrections, a…
Institute of Industrial Science, the University of Tokyo（东京大学工业科学研究所）
Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both the driver and support system can share lateral control of the vehicle. However, current haptic guidance steering systems demonstrate some deficiencies in assisting lane changing. This study explored a new steering interaction method, including the design and evaluation of an intention-based haptic shared steering system. Such an intention-based method can su…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only capable of making decisions but also monitoring the human's behavior and adjusting its behavior accordingly. To enable the automation system to smoothly exchange the control authority with the human partner, this paper introduces a novel self-regulating impedance controller for the automation system. To determine an optimal modulation policy, a cost functio…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the vehicle segments to fold and enter a jack-knife state. In this work, a model predictive path-following controller is proposed enabling automatic low-speed steering control of multi-steered articulated vehicles, comprising a car-like tractor and an arbitrary number of trailers with passive or active steering. The proposed path-following controller is tailored to …
Technische Universität Braunschweig（布伦瑞克工业大学）；Institute of Control Engineering（控制工程研究所）
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion…
Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we design a safety distance-based hierarchical AEB control system constituted of a high-level Rule-Based Supervisory control module, an intermediate-level switching algorithm and a low-level control module. The Rule Based supervisor determines the required deceleration command that is fed to the low-level control module via the switching algorithm. In the low-level,…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the dynamic state of the vehicle as position, orientation, time sampling, and constraints on slip angles of tires. The optimization processes minimize the cost function and simultaneously determine the optimal track by varying steering and breaking amplitudes. The current velocity of the vehicle is limited to a maximal velocity, thus, allowing a stable search of the o…
As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems. However, environments around passenger vehicles have also become more complex, and dangerous. There have previously been studies that outline driver tendencies and performance capabilities when attempting to avoid obstacles while driving passenger vehicles. Now that autonomous vehicles are being developed with obstacle avoidance capabilities, it is important to…
Institute of Automation, Chinese Academy of Sciences (CASIA)（中国科学院自动化研究所）；Peng Cheng Laboratory (PCL)（鹏城实验室）；School of Biomedical Engineering & Imaging Sciences, King’s college London（伦敦国王学院生物医学工程与影像科学学院）；Xtronics Ltd.（Xtronics有限公司）
A robotic trans-esophageal echocardiography (TEE) probe has been recently developed to address the problems with manual control in the X-ray envi-ronment when a conventional probe is used for interventional procedure guidance. However, the robot was exclusively to be used in local areas and the effectiveness of remote control has not been scientifically tested. In this study, we implemented an Internet-of-things (IoT)-based configuration to the TEE robot so the system can set up a local area network (LAN) or be configured to connect to an internet cloud over 5G. To investigate the re-mote cont…
Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle
Automation, Robotics and Mechatronics Laboratory (ARMLab), Department of Automotive Engineering, Clemson University International Center for Automotive Research (CU-ICAR)（自动化、机器人与机电实验室（ARMLab），汽车工程系，克莱姆森大学国际汽车研究中心（CU-ICAR））；Department of Mechanical Engineering, Clemson University（机械工程系，克莱姆森大学）
Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The models are categorized based on how they represent the wheel-ground contact, whether they incorporate the longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated that the developed models can be used to design low-complexity controllers that enable automated vehicles to execute a large variety of maneuvers with high precision…
California Institute of Technology（加州理工学院）；ETH Zurich（苏黎世联邦理工学院）；Northeastern University（东北大学）
The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions, balloon-based systems possess merits that make them extremely attractive, e.g., a simple operation mechanism and endured operation time. However, there are many hurdles to overcome to achieve robust loitering performance in balloon-based applications. We attempt to identify design and control challenges, and propose a novel robotic platform that allows for the applica…
Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from the automated functionality to a human driver. This paper addresses this challenge by proposing an intelligent haptic interface based on a newly developed two-phase human-machine interaction model. The intelligent haptic torque is applied on the steering wheel and switches its functionality between predictive guidance and haptic assistance according to the va…
