Modelling and validation of 16 DOF full vehicle model for guidance control

A three-dimensional dynamic model for simulating various motions of two-wheel-steering vehicles is presented. The model has 16 independent degrees of freedom (DOF) that consist of three components: a vehicle body of six DOF, four independent suspensions mounted at every corner of the car body, and four tyre models linked with each suspension. The dynamic equations are represented in six coordinate frames: world-fixed coordinate, vehicle-fixed coordinate, and four wheel-fixed coordinate frames. Then these equations lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tyre, aerodynamic resistance, etc., are considered. This full vehicle model is implemented in a MATLAB® toolbox and then is validated through experiments. It is also shown through simulation examples that the full vehicle model can be easily used for the performance analysis of the guidance controller as well as the dynamic motion analysis of the vehicle.

• Record URL:
  https://doi.org/10.1504/IJVSMT.2015.073043
• Record URL:
  http://www.inderscienceonline.com/doi/abs/10.1504/IJVSMT.2015.073043
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/17456436
• Supplemental Notes:
  • Copyright © 2015 Inderscience Enterprises Ltd.
• Authors:
  • Min, Kyungdeuk
  • Byun, Yeun-Sub
  • Kim, Young Chol
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 392-416
• Serial:
  • International Journal of Vehicle Systems Modelling and Testing
  • Volume: 10
  • Issue Number: 4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1745-6436
  • EISSN: 1745-6444
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJVSMT

Subject/Index Terms

• TRT Terms: Automatic controllers; Automatic steering control; Degrees of freedom; Dynamic models; Intelligent vehicles; Longitudinal control; Mathematical models; Simulation; Vehicle dynamics
• Subject Areas: Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01583847
• Record Type: Publication
• Files: TRIS
• Created Date: Dec 23 2015 8:12AM