This paper concerns a new 'Dual Model' methodology for the synthesis of steering, throttle and braking inputs for the closed-loop simulation of linear or non-linear vehicle handling dynamics. The method provides near-optimal driver control inputs that are both insensitive to driver model assumptions, and feasible for use with complex non-linear vehicle handling models. The paper describes the Dual Model technique, and evaluates its effectiveness, in the context of a low-order non-linear handling model, via comparison with independently derived optimal control inputs. The Dual Model method combines the use of a simple particle model to determine a velocity reference for the actual vehicle model. The use of the two-dimensional track coordinates as independent variables for the velocity reference is a key and distictive feature of the approach. The method is superficially analogous to asking a skilled human driver to repeatedly execute a given manoeuvre, with performance gradually improving until it is considered 'optimal'. A test case of an obstacle avoidance manoeuvre is considered. The methodology is particularly applicable to the design and development of future chassis control systems. Further work is needed to firmly establish this technique as a practical design tool, but the indications from this research are that the Dual Model technique has fundamental and durable significance.
On the synthesis of driver inputs for the simulation of closed-loop handling manoeuvres
Synthese von Fahrerinputs für die Closed-Loop-Simulation der Fahrzeughandhabungsdynamik
International Journal of Vehicle Design ; 40 , 1-3 ; 52-76
2006
25 Seiten, 13 Bilder, 2 Tabellen, 18 Quellen
Article (Journal)
English
On the synthesis of driver inputs for the simulation of closed-loop handling manoeuvres
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