Browse Topic: Steering systems

Items (1,059)

A Comprehensive Survey of Foot-Operated Steering Systems for Individuals with Upper Limb Disabilities: A Literature Review

2023-01-518702/23/2024

A significant portion of the global population about 13.6% of the world's population faces challenges due to upper limb disabilities caused by accidents, genetics, health issues or aging. These people struggle with everyday mobility tasks and often need help. Hence, the research is focused on creating special vehicle control systems to help them. This study gathers knowledge from various science and technology fields to develop foot-operated steering systems letting those with upper limb differences control vehicles with their feet. The research explores various technologies like modified steering, brain-controlled vehicles, foot-operated steering, steer-by-wire and Ackermann steering. Most of these systems are custom-made for people with upper limb differences. Ensuring safety, security, malfunction prevention, precise steering, user-friendliness and affordability is a significant challenge that demands advanced technology. Furthermore, there is a requirement to develop this system to

Soundararajan, R., Babu, N., Ashoka Vardhanan, P., Shijo Joseph, C.S.

Design and Development of Rack and pinion steering gear assembly for passenger car vehicle

2024-26-038501/16/2024

Cross-Helical gears are helical gears with non-parallel,non-intersecting axes and their helix angles are not equal and opposite. Profile shift gears are used to balance the strength of the rack and pinion, avoid undercut, and change the center distance as per the requirement of the vehicle. Passenger cars use these gears for maneuvering by converting the pinion rotary motion to rack translation and thereby turning the wheels. This paper discusses the design and development of Rack and pinion steering (RPS) gear assembly in terms of gear calculations, modeling, performance, and strength analysis over various load cases. Design calculations are being done for several parameters- Normal module, helix angle, No. of teeth as per steering gear ratio and shaft angle. A complete CAD geometry of the RPS gear assembly is made in CAD modeling software UG-NX as per vehicle requirements. BIW and its surrounding parts clearance from the RPS assembly are verified for packaging review. Performance

Rathore, Gopal Singh, chawla, Shubham

Analysis and Annihilation of Grunt Noise in Hydraulic Power Assisted Steering Systems

2024-26-021801/16/2024

Hydraulic steering systems employ pressurized fluid to alleviate the effort needed to steer the wheels of an automobile. Hydraulic Power Assisted Systems (HPAS) are cost-efficient, yet intricate. As customer trends lean towards reduced effort and improved handling, HPAS must intervene more in steering, leading to increased pressure requirements from the HPAS pump. Consequently, HPAS components must withstand higher pressure liquid and operate with closer tolerances, occasionally resulting in anomalous functioning. This paper delves into one anomaly with HPAS systems "Grunt Noise", a phenomenon caused by the resonance of the Torsion bar (T-bar) with fluid pressure pulsations. An extensive study was conducted to identify load conditions for grunt noise generation, examine transfer paths and analyze its frequency band. The study also explored the cascading process, reproducing the vehicle-level phenomenon at the rig-level for the Rack and Pinion and later at Pinion Valve assembly level

SETHI, AJITESH, Titave, Uttam, Vardhanan K, Aravindha Vishnu, Zalaki, Nitin, Naidu, Sudhakara

Electro-Hydraulically controlled Steerable Rear axle for commercial vehicles

2024-26-038801/16/2024

This paper presents the hydraulically actuated and electronically controlled rear axle steering system developed indigenously for defence vehicle. Some defence applications required vehicles with long wheel base and deck length for the system to assemble on the chassis. For these vehicles, the steering system requirement mainly the turning circle diameter requirements are very stringent. To meet these requirement, vehicle steering system is divided in two parts- front steering (Traditional) and rear steering. This rear steering is controlled by electronic controller based on the inputs from front wheel angles from front angle transducers and vehicle speed from vehicle CAN system. With these inputs the electronic controller regulates the flow in hydraulic valve block received from primary tandem pump to steering cylinders for required stroke length to turn the rear wheels. Further, there are angle transducers on the rear axles which sends feedback signal to electronic controller, that

chikate, abhishek, Mane, Akshata Dattatray, Kumar, Ganesh, Singh, Dhirendra, Sou Mandal, Pranab, Patjoshi, Sarthak

Reinforcement Learning based Parking Space Egress for Autonomous Driving Scenarios

2024-26-008801/16/2024

Automated parking systems for cars have become the need of the hour in all nations. They have gained wide acceptance from customers, and hence OEMs (Original Equipment Manufacturers) are working towards achieving precise/accurate automated parking. Various algorithms are being developed to plan the trajectory of the vehicle to be moved in/out of the desired parking slot. Most of these algorithms consider a static environment and don’t account for dynamic objects in parking-out scenarios. In this paper, we intend to develop an algorithm which considers traffic objects while moving effectively along the planned trajectory by giving the 'right of way' to the traffic object. In this study, we specifically propose a novel approach for generating linear and angular velocity profiles using reinforcement learning (RL) in conjunction with Hybrid A* path planning for autonomous vehicles (AVs) navigating parking maneuvers. The aim is to address challenges faced by traditional Model Predictive

A R, Vimal Kumar, Theerthala, Raghu Ram

A UNIVERSAL STEERING GROMMET DESIGN APPROACH TO ENHANCE THE PASSENGER CABIN NVH PERFORMANCE

2024-26-020201/16/2024

As a car OEM, we continuously strive to set the bar for competitors with every product. Consumer travel experiences are enhanced by increasing passenger cabin silence. There is only one steering system opening in the firewall panel, which is used for allowing intermediate shaft's fitment on the pinion shaft of the steering gear. The steering grommet is the sole component that covers the firewall cut-out without disrupting steering operations, which has a substantial impact on the NVH performance of the vehicle. It is typically used in cars to eliminate engine noise and dust entering to passenger compartment. The part is assembled inside the vehicle where the steering intermediate shaft passing through BIW firewall panel. We use a bearing, plastic bush, or direct rubber interference design in the steering grommet to accommodate the rotational input the driver provides to turn the automobile. However, occasionally noise may be produced due to uneven bearing or plastic bush loading or a

J, Sadhish, Vijayarangan, Deepak

Adaptive Steering System for Improved User Experience

2024-26-002301/16/2024

A car's steering is the first touchpoint for the driver and one of the most important factor which governs the buying decision of the vehicle. Currently steering system has a single EPAS map leading to constant steering feel during both low and high speed manoeuvres. Some vehicles are equipped with steering system having fixed driving modes which need manual intervention. In order to achieve the needs and to overcome the limitation of fixed mode steering system, this paper proposes Machine Learning based Adaptive Steering System which automatically switches from comfort to sports mode and vice a versa to provide soft and hard steering feel as per the user's requirement. The system identifies driving pattern and zone based on vehicle response to driver input and accordingly adapts steering assist / torque. The system comprises of two modules namely driving pattern recognition for sport and comfort mode and zone detection for city and highway driving. Both modules used already available

BHAMBRI, MIHIR, sheth, Malav, Iqbal, Shoaib, Salunkhe, Swapnil

Impact of Toe and Thrust Angle Misalignment on Roll Behaviour of a Heavy Commercial Road Vehicle

2024-26-005601/16/2024

Heavy Commercial Road Vehicles (HCRVs) may be more susceptible to rollover incidents due to their higher centre of gravity position than passenger vehicles, and rollover is one of the significant causes of HCRV accidents. Therefore, variation in vehicle roll behaviour becomes crucial to the safety of an HCRV. Toe misalignment is a commonly observed phenomenon in HCRVs, and studying its impact on roll behaviour is important. In this work, the impact of the symmetric toe and thrust misalignment on the roll behaviour of an HCRV is analysed using IPG TruckMaker®, a vehicle dynamics simulation software. A ramp steer manoeuvre was used for the simulations, and the toe misalignment on a wheel was chosen from the range [−0.21°, 0.21°]. Variation in roll behaviour was quantified using the steering wheel angle at which one-wheel lift-off (OWL) occurred (SWA_L). Additionally, an analytical model was formulated to predict OWL and the model predictions were compared with the results from IPG

Chandran, Amarchand, Grandhe, Roshan, Mukhopadhyay, Arko, Sharma, Mitanshu, Shankar Ram, C S

EPS calibration in multiple modes including terrain mode for SUV to achieve precision steering feel and Handling enhancement.

2024-26-005501/16/2024

In automobiles, the SUV category of cars encounters almost all types of terrain, including Sand, Mud, Snow, Gravel, etc. Despite changes in terrain, today's customers want no deterioration in Ride, Handling, or steering performance feel, which poses challenges for automakers while calibrating the performance attributes of the vehicle. This technical paper would be focusing on extracting optimum steering performance over any terrain by providing versatile terrain specific EPAS logics through dedicated steering modes linked to the Terrain modes in addition to the Drive modes. Comfort, Normal & Sports are the usual Drive modes, wherein Comfort would have the maximum assist, Normal would have the optimum assist, and Sport would have a higher damping and weighted feel. Similarly, after a lot of subjective evaluations over different Terrains in India, suitable EPAS calibration modes are adapted. A BLAC motor has been selected for its precise control over assist torque and wider scope for

Gaikwad, Vivek, Shah, Samarth, Krishnan, Nandhakumar, K, Rajakumar

A comparative study of vehicle handling characteristics of commercial vehicle with innovative nonlinear stiffness mono-leaf suspension with parabolic spring suspension through simulation

2024-26-005701/16/2024

In recent years due to significant increased cost of raw material, fuel and energy, vehicle cost is increased. As vehicle cost is one of the major factors that attracts prospective buyers, it has created specific demand for low weight and low-cost components than traditional components with better performance to meet customer expectations. Suspension is one of the critical aggregates where lot of material is used and reduction in weight tends to give lot of cost benefit. As suspension system derives vehicle's handling performance, it has to be ensured that handling performance of vehicle is maintained the same or made better while reducing weight of the suspension. Advancements in simulation capabilities coupled with manufacturing technology has enabled development non-traditional leaf springs. One of such springs is mono-leaf spring without. This type of leaf spring provides advantages such as low weight and nonlinear stiffness. Hence, this type of spring can cater the need of soft

Pandhare, Vinay Ramakant, Tiwari, Chaitanya, Deore, Yogesh, Khandekar, Dhiraj

Auto lock of manual seat track adjustment in passenger vehicles

2024-26-000101/16/2024

Vehicle seats are provided with a facility to adjust the seat forward or rearward. Seating positions can be adjusted according to the comfort of the occupants. Seat track position plays an important role in airbag deployment during vehicle crash. A hand lever is used to manually adjust the seat track in some vehicles by pulling up the lever and releasing it after the appropriate seating position has been adjusted. All the safety manuals provided by OEMs warns about the adjustment of seat track position as forward or rearward during vehicle movement. It is high risk because of any rapid movements due to unexpected road conditions might result in driver losing control of the pedals and steering wheel and this may leads to severe injuries and even can cause fatalities. The proposed system in this paper is focused to provide more safety to the driver with a new method " Auto lock of manual seat track adjustment in passenger vehicles”. The proposed system shall be integrated with Body

Nalagatla, Karthik, S, Deepak Kumar, Jamadar, Tohidanjum

Methods to enhance vehicle handling by improving Steering On centre feel and return ability in commercial vehicles equipped with hydraulic assisted steering system.

2024-26-005201/16/2024

With rapid improvement in the road infrastructure the average turnaround time of the cargo vehicles has been reduced by 25%.New generation commercial vehicles has better power to weight ratio by integrating high horse power engines. With this latest vehicle configuration average speed of fleet is increased by 30% and more focus is provided towards vehicle safety and handling. Driver confidence on vehicle handling improves with better on centre feel and return ability, these two parameters are easily tuneable with modern electric power assisted steering system, whereas with hydraulic power assisted system these parameters optimization have adverse effect on other steering performance. This paper covers study of following parameters of hydraulic assisted steering system and its optimization on vehicle handling. 1. Steering Gearbox torsion bar stiffness 2. Steering pump flow 3. Caster angle 4. Linkages ball joint performance 5. Steering Gearbox valve curve Base vehicle level objective

K, Arun Kumar, chikate, Abhishek, Kumar, Ganesh

Development of Fuel efficiency Enhancement Module for tractors

2024-26-006401/16/2024

In farm tractors, the available drawbar power and Power Take-Off (PTO) power are generally lower than the engine power due to parasitic losses. These losses are caused by engine-driven auxiliary loads such as cooling fans, hydraulic pumps for power steering, alternators, etc. Minimizing these parasitic losses can increase the available drawbar power and PTO power, resulting in direct fuel savings by reducing fuel consumption. The continuous increase in fuel costs and the environmental impact of emitted gases from burned fuel into the atmosphere have necessitated the replacement of hydraulic power steering and mechanical fans with electric power steering (EPS) and electric fans, respectively, to improve efficiency. The existing battery has been replaced with a higher capacity battery to provide power to the electric fan, electric power steering, and other electrical components. Additionally, the existing alternator has been replaced with a higher capacity alternator to meet the

Arjun, P., Natarajan, Saravanan, Chinnathambi, Manikandan, a, Radhakrishnan, nabar, Omkar

Design of a Robust Optimal Multivariable Control for a Steer-by-Wire System

2023-01-121806/26/2023

On the way to highly automated and autonomous driving, a robustly designed steering system is a key component. Therefore, the proposed article will present a new control approach for modern steer-by-wire systems. The novel approach consists of a true multivariable control for the driver´s steering torque and the rack position simultaneously using the requested torques of the downstream (SRU) and upstream (SFU) motor as control variables. Here, the plant model is a detailed model of a steer-by-wire system with nine degrees of freedom (see Fig.1). For the control design, an optimal reduced model is derived. The reduced plant model is linearized and augmented by linear models for the reference and disturbance environment of the steer-by-wire system and by a linearized model for the complete feeling generator computing the requested steering torque. The feeling generator consists of a rack force feedback, an active damping and an active steering wheel return. For this augmented model, a

Irmer, Marcus, Degen, René, Nüßgen, Alexander, Thomas PhD, Karin, Ruschitzka PhD, Margot, Henrichfreise PhD, Hermann

Model Based NVH Simulator for Virtual Development

2025-01-005905/05/2023

For mature virtual development, enlarging coverage of performances and driving conditions comparable with physical prototype is important. The subjective evaluation on various driving conditions to find abnormal or nonlinear phenomenon as well as objective evaluation becomes indispensable even in virtual development stage. From the previous research, the road noise had been successfully predicted and replayed from the synthesis of system models. In this study, model based NVH simulator dedicated to virtual development have been implemented. At first, in addition to road noise, motor noise was predicted from experimental models such as blocked force and transfer function of motor, mount and body according to various vehicle conditions such as speed and torque. Next, to convert driver’s inputs such as acceleration and brake pedal, mode selection button and steering wheel to vehicle condition, 1-D performance model was generated and calibrated. Finally, the audio and visual feedback

Park, Sangyoung, Dirickx, Tom, Kang, Yeon June, Nam, Jeong Min

Investigation and Analysis of Brake Factor variation and its relation with Brake Pulling.

2022-01-117109/19/2022

Vehicles pull during braking can be defined as the deviation of vehicle travel from intended path of the vehicle by a margin of half a wheel track or more. It is a dynamic phenomenon with very complex inter-dependencies among the combined functioning of various aggregates such as steering system, suspension system, axles, brakes. The problem is aggravated with shorter wheelbase & higher CG (Centre of Gravity) height, where the instantaneous load transfers are sudden and of relatively high magnitude which can lead to a combination of forces that are responsible for vehicle drifting or pulling to anyone side of center-line travel. Vehicle with shorter wheelbases, high GVW and high CG heights are more prone to this unstable behavior due to sudden change in dynamic forces acting on the tires while turning and braking. Although these vehicles have some disadvantages, they are required for important applications such as stage and intercity operations and hence cannot be stopped producing due

Pandey, Prashant, Pujari, Sachin, Nagrikar, Ravi

Onboard Sensor and Actuator Calibration of a Tripod Electric Vehicle Using Circular, Linear, and Cornering Motion Tests

02-16-01-000608/09/2022

This article aims at the calibration of an onboard sensor and actuator parameters as well as the identification of the open-loop transfer function of the steering and traction control systems of tripod electric vehicles (EVs). Tripod EVs are commonly used as forklifts and automatic guided vehicles in a factory or wheelchairs in a hospital. A test procedure called the circular, linear, and cornering motions (CLCM) test is introduced in this article for making the corrections which are caused by many factors including the potentiometer of the steering angle error, hall sensor error of the traction speed, the backlash of the steering system, and the tire slip angle that can lead the tripod EV to deviate from the path. The CLCM test is subdivided into circular, linear, and cornering motion subtasks for each individual identification and calibration purposes. The effect of the CLCM test has been verified by both simulation and experiment via an 8-shape navigation path consisting of all

Ismail, Hasan, Chiang, Chien-Hsun, Chieng, Wei-Hua

Area coverage using drones for Precision Agriculture

2022-26-124705/26/2022

With the constant growth of the world population, the necessity for increasing productivity has become paramount owing to faster resource depletion. We have seen great leaps in the automation of agricultural operations which has sustained the increased demand for food. UAVs are one such technology with the potential to revolutionize the farming industry through precise and focused applications for crop inputs. In this work, a system that enables applying precision agriculture approach for crop monitoring, growth, and protection activities is described. This work focuses on designing a UAV system capable of maneuvering through agricultural fields addressing the problem of complete coverage of fields. Coverage Path Planning is the process of finding the route that covers all points of the specific area. Most of the research focused on finding the optimal path takes only geometrical aspects into account, while not considering context-specific robot features, energy, speed, and sensor

Karthikeyan, Rohith, Arya, Hemendra

Development of Steering Control Method for Steer-by-Wire System Requiring No Changes in Steering Wheel Hand Position

2022-01-106403/29/2022

Future steering systems must be compatible with automated driving systems, while also improving the flexibility of the cabin space. To address these needs, a steer-by-wire system with no mechanical linkages is being developed. This paper proposes a control method for a variable steering gear ratio and reaction force to achieve a natural steering feel in a steer-by-wire vehicle without requiring the driver to change hand position on the steering wheel. Moreover, taking advantage of the characteristics of a steer-by-wire system, this paper also demonstrates the effectiveness of a control method that transmits only the necessary road information to the driver.

Takashima, Toru, Kudo, Yoshio, Kodera, Takashi, Namikawa, Isao

Analytical modeling and multi-objective optimization of the articulated vehicle steering system

2022-01-106003/29/2022

Articulated steering system is widely used in engineering vehicles due to its high mobility and low steering radius. The design parameters have a vital impact on the selection of the steering system assemblies, such as the operation stroke, pressure, and force of the hydraulic cylinders during the steering process, which will affect the system weight. The energy consumption is also relevant to the geometry parameters. According to the kinetic analysis of the steering system and dynamic analysis of the steering process, the kinetic model of an engineering vehicle steering system is established, and the power needed to boost it is calculated and validated by the field test result. The influence of the factors is analyzed based on this model. To lower the system weight and needed pressure, the multi-objective particle swarm optimization method is initiated to optimize the geometry parameter of the articulated steering system. After optimization, the weight of the system decreased by

Low Frequency Modal Management of a Tata Premium Hatchback Car

2022-01-036203/29/2022

Tactile feel of vehicle touch points is one of the important criteria of the customer choice while making the buying decisions in the dealership or on a test drive. This tactile feel of a vehicle is majorly governed by the low frequency mode management achieved while designing the vehicle. Different parameters like inclusion of multiple powertrains on a vehicle program, choice of multiple way seating different at driver’s, front passenger’s and rear passengers’ seating positions, instrument panel and steering system designs having higher torque delivery, suspension modes of the front and rear axles based on their articulation and degree of independency, global modes of the vehicle body, the cabin air cavity configuration and volume, etc. play a significant role in deciding this tactile feel of the vehicle being designed. How these parameters were tuned and designed while developing a Tata premium hatchback car has been elucidated with different subsystem development examples. The

Pol, Atul Devidas

Energy Optimal Control for Formula One Race Car

2022-01-044603/29/2022

Formula One (F1) is considered to be the forefront of innovation for the automotive and motorsport industry. One of the key provisions has been towards the inclusion of the Energy Recovery System (ERS) since 2014 in F1 regulations. ERS comprises Motor Generator Unit-Heat (MGU-H), Motor Generator Unit-Kinetic (MGU-K) and an Energy Storage (ES). This has not only converted the conventional powertrain into a hybrid power-split device, but also imposed constraints on the fuel energy available, energy recovered and deployed by MGU-K,and charge stored in ES, along with various other parameters. Although the objective for a F1 race is to minimize lap-time, it is obvious that there is no unique control path or decision to meet this objective. This build up needs to optimally control the powersplit and energy of the system. In contrast to lap-time optimal control, which is focused on lap-time minimisation, energy optimal control ensures that the powertrain components operate optimally by

Javed, Hassan, Samuel, Stephen

Automobile Steering Wheel Perception Quality Innovation and Upgrade Model Construction

2022-01-040403/29/2022

The automotive interior is a complex system integrating multiple elements. The perceived quality and design of the automotive interior are the quality carrier. The automotive steering wheel is the automotive component that the driver has direct contact with for the longest time. The steering wheel is the automotive component of the main driving experience, and its perceived quality can have a direct and profound impact on people's subjective feeling and psychological experience. This paper collects the steering wheel size data of various models in the market and makes further calculation and design. The steering wheel is also a multi-element centralized carrier. Through the combination of the design elements of the steering wheel and the theory of ergonomics, it carries out the innovation of perceived quality, so as to meet the needs of human body and improve the driving comfort of drivers, The design includes steering wheel size, modeling design, multi-functional key size and position

Ji, Yun Xiao, Ding, Shousheng, Wang, Chu

Efficient Trajectory Planning for Tractor-Trailer Vehicles with an Incremental Optimization Solving Algorithm

2022-01-015903/29/2022

A tractor-trailer vehicle (TTV) consists of an actuated tractor attached with several full trailers. Because of its nonlinear and noncompleted constraints, it is a challenging task to avoid collisions for path planner. In this paper, we propose an efficient method to plan an optimal trajectory for TTV to reach the destination without any collision. To deal with the complicated constraints, the trajectory planning problem is formulated as an optimal control problem uniformly, which can be solved by IPM. A novel incremental optimization solving algorithm (IOSA) is proposed to accelerate the optimization process, which makes the number of trailers and the size of obstacles increase asynchronously. Simulation experiments are carried out in two scenarios with static obstacles. Compared with other methods, the results show that the planning method with IOSA outperforms in the efficiency.

Ruan, Xinyao, Yu, Zhuoping, Xiong, Lu, Fu, Zhiqiang, Li, Zhuoren

Hierarchical Vehicle Stability Control Strategy Based on Unscented Kalman Filter Estimation

2022-01-034303/29/2022

High-speed vehicle is prone to instability under bad road conditions, causing many safety accidents such as tail-flicking and overturning. Stability control could assist vehicle to drive safely and stably by adjusting the additional yaw moment. However, most of the existing stability control strategies directly invoke the information of the sideslip angle of the centroid that is difficult to obtain on the vehicle, and carry out complex controller design, which deviates from the actual application. In order to achieve a complete set of stability control architecture oriented to practical applications, this paper designs a hierarchical vehicle stability control strategy based on differential braking and state estimation technology. Firstly, a model oriented to state estimation and controller design is built according to the vehicle's motion state; Secondly, the sideslip angle of the centroid is accurately estimated through the unscented Kalman filter algorithm; Subsequently, the sliding

Zhang, Jian, Jiang, Hongwei, Li, Linrun, Liu, Qiuzheng, Wang, Yu, Liu, Jinbo, Gao, Yuan, Chen, Zhicheng

Virtual Evaluation of Deep Learning Techniques for Vision-Based Trajectory Tracking

2022-01-043903/29/2022

Ground vehicle systems are still largely reliant on traditional control technique deployments. Deep-learning based control-system deployments, are emerging as a viable substitute to more traditional control-system. However, reliability and robustness of deep-learning based controllers in actual deployments and their subsequent verification and validation remains a challenge. This is exacerbated by the need to factor in the uncertainty of the environment as well as the increased number of parameters. Existing literature comparisons of deep-learning vs traditional controllers do not offer structured approaches to performance evaluation and improvement. It is also crucial to: (i) develop a standardized controlled test-environment within which various controllers are evaluated against a common metric; (ii) identify a reference high-fidelity controller (traditional) that can serve as a benchmark. Hence, in this paper, we evaluate deep learning-based controllers by a structured selection of

Salvi, Ameya, Krovi, Venkat N, Buzhardt, Jake, Tallapragda, Phanindra, Smereka, Jonathon M., Brudnak, Mark

Comparison of Path Planning Approaches of Autonomous Vehicles for Obstacle Avoidance Application

2022-01-009003/29/2022

This paper investigates different path planning and trajectory generation algorithms for the application in autonomous vehicles for obstacle avoidance. A literature review is conducted to select path planning and trajectory generation algorithms that are suitable for the obstacle avoidance application. Two motion planning approaches are designed in this work. Approach 1 (RRT*-Spline) uses rapidly exploring random trees* (RRT*) path planning algorithm combined with cubic spline trajectory generation algorithm. Approach 2 (A*-Polynomial Curve) plans a feasible path by using A* algorithm and generates a smooth trajectory using 5th order polynomial curve fitting algorithm. To demonstrate obstacle avoidance of autonomous vehicles, Prescan is used to build real life driving scenarios which include an ego vehicle, an obstacle, sensors, roads, and other necessary components. MATLAB script and Simulink are used to build an integrated model consisting of path planning and trajectory generation

Zhang, Duo, Chen, Bo

Path Planning Method for Perpendicular Parking based on Vehicle Kinematics Model using MPC Optimization

2022-01-010003/29/2022

In recent years, intelligent driving technology is being extensively studied. This paper proposes a path planning method for perpendicular parking based on vehicle kinematics model using MPC optimization, which aims to solve the perpendicular parking task. Firstly, in the case of any initial position and orientation of the vehicle, judging whether the vehicle can be parked at one step according to the location of the parking place and the width of the lane, and then calculating the starting position for parking, and use the Bezier curve to connect the initial position and the starting position. Secondly, reference parking path is calculated according to the collision constraints of the parking space. Finally, because the parking path based on the vehicle kinematics model is composed of circle arcs and straight lines, the curvature of the path is discontinuous. The reference parking path is optimized using Model Predictive Control (MPC). The final path is easier to be followed, and

Li, Zhuoren, Xiong, Lu, Leng, Bo, Fu, Zhiqiang, Zeng, Dequan

Rollover and near-rollover kinematics during evasive steer maneuvers

2022-01-104203/29/2022

We present 6-degree-of-freedom (6DOF) kinematic data from two SUVs during evasive steer maneuvers that did and did not result in rollovers. The vehicles were instrumented with a GPS speed sensor, tri-axial accelerometers, tri-axial angular rate sensors, and a steering wheel angle sensor. Drone-based and land-based video cameras recorded all tests. Six degree of freedom position/orientation data were extracted from the video using match moving techniques with 3D constraints from laser scans of the test site and vehicles as described in our previous SAE paper (SAE 2020-01-0272). The initial speeds varied from 100 to 124 km/h and the steering input during the tests were similar. We examine the magnitude and timing of the vehicle pre-roll kinematics to identify differences between the roll and non-roll events. We also present the 6DOF kinematics of the rollovers themselves. This study provides valuable insight into factors that predict roll initiation during evasive steer maneuvers.

Young, Cole, King, David, Siegmund, Gunter

Path planning strategy of Distributed-driven articulated vehicle considering steering energy consumption

2022-01-034903/29/2022

The over-actuated characteristic of distributed driving vehicle can be used to generate the yaw moment by the reasonable allocation of each wheel driving force, which can reduce the energy consumption in the process of vehicle handling. The dynamic model of articulated vehicle with the electric-hydraulic hybrid steering is established by integrating the differential steering of vehicle. In this paper, the dynamic programming method is used to study the energy consumption of articulated vehicle with electro-hydraulic hybrid steering, and the energy-saving effects under different operating conditions are compared and analyzed. And on this basis, the rule-based control steering strategy for the articulated vehicle is built which can be used on-line. The model of articulated vehicle is established based on ROS platform, and tentacle algorithm is used for path planning of articulated vehicles. The stability and handling energy consumption of the vehicle are calculated for each tentacle

Niu, Tianwei, Shen, Yanhua, Bin, Xu

Cooperative game approach to merging sequence and optimal trajectory planning of connected and automated vehicles at unsignalized intersections

2022-01-034503/29/2022

Connected and automated vehicles (CAVs) can improve traffic efficiency and reduce fuel consumption. This paper proposes a cooperative game approach to merging sequence and optimal trajectory planning of CAVs at unsignalized intersections. The trajectory of the vehicles in the control zone is optimized by the Pontryagin minimum principle. The vehicle's transit time, fuel consumption, and passenger comfort are considered to construct the joint cost function, completing the optimal trajectory planning to minimize the joint cost function. Analyzing the different states between the two CAVs at the intersection to calculate the minimum safety interval. The cooperative game approach to merging sequence aims to minimize the global cost and the merging sequence of CAVs is dynamically adjusted according to the gaming result. The multi-player games are decomposed into two-player games, to realize the goal of the minimal global cost, and improve the calculation efficiency. Compared with the first

Wang, Zihao, Duan, Yupeng, Wu, Jinglai, Zhang, Yunqing

Driving Behaviour Analysis Software for Data-Driven Path Planning Functionalities for Automated Vehicles

2022-01-025103/29/2022

Autonomous driving is currently one of the most challenging Artificial Intelligence (AI) problems as it requires combination of state-of-the-art solutions in multiple areas including computer vision, sensor fusion, control theory and software engineering. Deep learning has been pivotal to solving some of these problems, especially in computer vision. This enabled some autonomous vehicle companies started leveraging the benefits of deep learning for creating smooth, natural, human-like motion planning systems. In particular, the plethora of driving data captured from modern cars is a key enabler for training data-driven path planning systems. , Developing deep learning-powered systems relies heavily on big and high-quality data required for training of the models, in which the intrinsic statistics of the data that the model is trained on can result in different agent behavior in different scenarios. To ensure safe and comfortable limitations to the behavioral spectrum of the intelligent

SONGUR, NOYAN, SOUFLAS, IOANNIS

Construction and Test of Wireless Remote Control System for Self-driving Car

2022-01-006103/29/2022

Aiming at the test safety problems in the early stage of self-driving cars development, firstly the virtual vehicle on-board CAN data acquisition module of the present project was designed based on virtual LabVIEW. Then a wireless remote control system for the self-driving car was constructed, which integrated the built virtual vehicle on-board CAN data acquisition system, the remote real-time image monitoring module and the remote upper computer control module based on ZigBee wireless transmission. It can execute the environmental awareness training and continuous and complex motion manipulation testing of the vehicle without relying on the driver, which can solve the safety problems in the tests of initial development of self-driving cars. Finally, the four-wheel independent steering electric vehicle was used as the self-driving test vehicle, and the wireless remote control system was tested on the double lane change type path and S-type path. During the testing, the self-driving car

Zhou, Su, Xie, Zhengchun, Zhang, Gang, Hirz, Mario

Optimized Variable Gear Ratio Steering System with Reduced EPAS Motor Size achieving Performance Targets

2022-01-106103/29/2022

In electric power assisted steering system (EPAS), the steering assistance torque is provided by the electric motor. The motor rating is decided based on rack force requirement which depends on the vehicle weight, steering gear ratio, wheel angles & turning circle diameter etc. The load on the EPAS motor varies with respect to the steered angles of the road wheels. The motor experiences higher load towards the road wheel lock position. Most of the steering systems used on passenger cars has rack and pinion gear with constant gear ratio (C-factor). The constant gear ratio is decided to create right balance between vehicle handling behavior and steering effort. The constant gear ratio exerts higher steering load which the EPAS motor is required to support up to road wheel lock angles and hence EPAS motor size increases. This paper presents variable gear ratio (VGR) steering system in which gear ratio varies from center towards end lock stroke of rack & pinion. The VGR is optimized in

Kulkarni, Parag Vijay, Salunkhe, Swapnil, Iqbal, Shoaib, Joshi, Nikhil, Shabadi, Nischalkumar

Path Planning and Path Optimization for Industrial Robots using Moveit! and ROS Melodic

2022-01-041603/29/2022

This research paper is entitled "Path planning and path optimization for industrial robots using Moveit! and ROS Melodic". The main objective of the research is to analyse the performance of pick and place operations of the Techman robot TM5-700, to understand ROS melodic basics, use Moveit for initializing motion planning and implementing various algorithms for path optimization. The paper also aims to analyse the safe and efficient collaboration of the robot with human workers and compliable technology. Traditionally, movement of robots is needed to be observed on a timely basis to avoid any mishaps. The challenge, therefore, is to not only create a system that does not create mishappenings, but also create a system that is independent of human interference. The robot is thus designed to communicate to the ROS Master via services and will respond to the commands given to it through a Python program which initiates a node, communicates with the robot system and guiding its motion. The

Palchaudhary, Sanket, Narvekar, Nishant, Siddiqui, Osama

A decision-oriented trajectory planning approach with longitudinal priority

2022-01-009503/29/2022

Most optimizations for trajectory planning with autonomous vehicles first decouple the lateral-longitudinal-time problem, transforming decision-making into a matter of limited choices. Potential alternatives that can lead to better performance have been ruled out once the trajectory has been predefined in one or two dimensions, such as path optimization. This article mainly draws on the optimization method from the Apollo EM Motion Planner and proposes an optimal approach in Frenét-Frame by putting the decision-making process as well as the speed optimization first. The approach mainly concentrates on multilane scenarios with high-speed autonomous driving in a two-layer manner. The first layer consists of decision-maker and converter, giving decision-based obstacle boundaries as well as short-term objectives to the trajectory generator. The generator in the second layer puts the longitudinal axis first, computing in parallel with every decision to acquire the best trajectory, whose

Guo, Rong, Yu, Shibo

Active Learning Optimization for Boundary Identification Using Machine Learning-Assisted Method

2022-01-094603/29/2022

Identifying edge cases for designed algorithms is critical for functional safety in autonomous driving deployment. In order to find the feasible boundary of designed algorithms, simulations are heavily used. However, simulations for autonomous driving validation are expensive due to the requirement of visual rendering, physical simulation, and AI agents. In this case, common sampling techniques, such as Monte Carlo Sampling, become computationally expensive due to their sample inefficiency. To improve sample efficiency and minimize the number of simulations, we propose a tailored active learning approach combining the Support Vector Machine (SVM) and the Gaussian Process Regressor (GPR). The SVM learns the feasible boundary iteratively with a new sampling point via active learning. Active Learning is achieved by using the information of the decision boundary of the current SVM and the uncertainty metric calculated by the GPR. The optimal sampling point is selected through multi

Ryu, Joonjae, Wei, Yifan

Electric Power-Assist Steering System CAE Simulation

2022-01-029403/29/2022

The steering system is to provide the driver with the possibility of lateral vehicle guidance, i.e. to influence the lateral dynamics of the vehicle. It is crucial that the steering input is promptly translated by the steering system and the vehicle is in a high-quality directional stability. The use of an electrical power steering system is to meet higher requirements for vehicle safety, ride comfort, and driver-assist. CAE is a powerful tool to simulate the response of a steering system under various working scenarios. How to correctly modeling the steering system is the key leading to the right solution. The goal should be clearly defined and the modeling procedure should be well planned and followed. Through the example of creating a model for EPAS, details are described.

Song, Gavin, Wou, Jason

Event-triggered Adaptive Robust Control for Lateral Stability of Steer-by-wire Vehicles with Abrupt Nonlinear Faults

2022-01-111203/29/2022

Owing to the fact that autonomous vehicles equipped with active front steering (AFS) have the features of time-varying, uncertainties, high rate of fault and high burden on the in-vehicle networks, this article studies the adaptive robust control problem for improving steer-by-wire (SBW) vehicles lateral stability in the presence of abrupt nonlinear faults. Firstly, a robust H∞ controller, as an upper-level controller, is designed to obtain the corrected steering angle for driving both the yaw rate and the sideslip angle to achieve their desired values. Takagi-Sugeno (T-S) fuzzy modeling approach which has shown the extraordinary ability in coping with the issue of nonlinear is applied to deal with the challenge of the changing longitudinal velocity. The output of upper controller can be calculated by parallel-distribute-compensation (PDC) scheme. Then, an event triggered adaptive fault tolerant lower controller is proposed to track the desired front wheel steering angle offered by the

zheng, gong, Xie, Zhengchao, Zhao, Jing

A Study on the Concept Design of 4-Wheel Independent Steering system and Driving mode

2022-01-111803/29/2022

Recently, there are lots of customers' requirements for future mobility such as narrow space movement, increased driving freedom, and ease of parking are emerging. And the key leading technologies to implement them are 4-Wheel independent Steering(4WS) technology. In this study, we will introduce the concept design approach of 4-corner steer module and how to prove the design. Last but not least, we defined the basic driving mode of 4WS and specified how to control the 4-corner steer module.

Virtual Verification of Decision Making and Motion Planning Functionalities for Automated Vehicles in Urban Edge Case Scenarios

2022-01-101803/29/2022

Traffic congestion, road accidents, environmental pollution and driving stress are usually associated with road transportation in dense urban environments. The widespread deployment of automated vehicles has the potential to eliminate these issues; autonomous vehicles would allow for the optimization of traffic flow, the reduction of road accidents and environmental pollution, and the elimination of driving stress. Despite recent advancements in Automated Driving Systems (ADS), the deployment of such systems in dense urban environments still faces a challenging problem: in comparison to motorway or rural driving, urban environments contain a significantly greater number of traffic participants. This makes it difficult to verify the Safety Of The Intended Functionality (SOTIF) across the entire Operational Design Domain (ODD). One approach to solve this problem is to virtually evaluate and verify the safety of the ADS using simulation tools. Whereas traditionally simulated validation

Souflas, Ioannis, Lazzeretti, Ludovico, Ahrabian, Alireza, Niccolini, Lorenzo, Curtis-Walcott, Shona

Hazard Analysis and Risk Assessment based on Electric Power Steering according to ISO 26262

2022-01-106203/29/2022

ISO 26262 is a functional safety standard for automotive electrical and electronic system . Hazard Analysis and Risk Assessment (HARA) is a sub-phase of the ISO26262 concept phase, which is one of most important safety activities of the ISO 26262 safety lifecycle. This paper details application of HARA for Electric Power Steering (EPS) system. First, item definition for EPS System is sketched out，which is prerequisite for the HARA. Item definition includes system description, its function, boundary, and interfaces to external systems. Then analysis procedure HARA of EPS System is detailed out ,including identifying potential hazards, developing a set of specific hazardous events, and assessing the risk of each hazardous event to determine the Automotive Safety Integration Levels (ASIL). In the end，according to analysis procedure of HARA, a set of safety goals and safety states for EPS System is proposed. The design of safety goals and safety states is applied to provide guidance to

Li, Lingyang, Du, Jia, Ye, Xiaoming, Liu, Xin, Wen, Tao

A Study on the Robust Crash Performance Structure of Continuous Fiber Thermoplastic Composite Cowl Crossbar

2022-01-105603/29/2022

Since the 1990s, an increasing amount of research has been done in the automotive industry, not only to improve vehicle production efficiency and performance but also for environmental preservation and enhanced recycling. For this reason, recently, keen interest has been focused on the reduction of fuel consumption through the development of eco-friendly and weight-effective vehicles. This is due in part to the strengthening of regulatory standards for fuel efficiency in each country. This study will focus on the high crash safety performance and the optimization of the IP module, in particular, the cowl crossbar, which in most vehicles, can account for more than 33% of the total weight. In fact, the cowl crossbar is the main part of the vehicle that must support the duct system, steering column module as well as the entire IP module. Therefore, it requires a high stiffness to meet the performance requirements for NVH, durability, and crash protection. For example, during a frontal

Kim, Heeseok, KIM, IL SANG, JAE HYUN, AN, IN SOO, HAN, CHOI, IKKEUN, Park, Sanghyeon

Controller design for path tracking of autonomous vehicle incorporating four-wheel steering system

2022-01-034603/29/2022

This research aims to model and assess autonomous vehicle controller while including a four-wheel steering and longitudinal speed control. Such a modeling process simulates human driver behavior with consideration of real vehicle dynamics’ characteristics during standard maneuvers. However, a four-wheel steering control improves vehicle stability and maneuverability as well. A two-degree of freedom bicycle model, lateral deviation and yaw angle, is constructed to describe vehicle dynamics’ behavior. Moreover, a comprehensive traction model is implemented which includes an engine, automatic transmission, and non-linear magic formula tire model for simulation of vehicle longitudinal dynamics. A combination of PID longitudinal controller and fuzzy lateral controller are implemented simultaneously to track the desired vehicle path while minimizing lateral deviation and yaw angle errors. Then, A LQR based rear steering controller is introduced to represent a performance improvement over

Gafar, Ibrahim, Oraby, Walid, Aly, Mahmoud Atef

Self-Propelled Sweepers and Scrubbers Steering Requirements Single-Circuit Hydraulic Servo-Assisted Systems

J1790_202111 (Current)

11/09/2021

The SAE Standard applies to self-propelled, driver-operated sweepers and scrubbers as defined in SAE J2130-1 and SAE J2130-2.

MTC2, Sweeper, Cleaner, and Machinery

Steering Control Systems - Heavy Trucks

J2425_202111 (Current)

11/09/2021

This SAE Recommended Practice describes a laboratory test procedure and requirements for evaluating the characteristics of heavy-truck steering control systems under simulated driver impact conditions, as well as driver entry/egress conditions. The test procedure employs a torso-shaped body block that is impacted against the steering wheel.

Truck Crashworthiness Committee

Simulation of the Steering System Power Demand during the Concept Phase Focusing on Tire Modelling at Standstill

06-14-03-001211/09/2021

Estimating the power demand of a steering system is one of the main tasks during steering system development in the concept phase of a vehicle development process. Most critical for typical axle kinematics are parking maneuvers with simultaneously high rack forces and velocities. Therefore, the focus of the article is a tire model for standstill, which can be parametrized without measurements, only having tire dimensions and conditions (inflation pressure and wheel load) as input. Combined with a double-track model, a vehicle model is developed, which is able to predict the rack force and is fully applicable during the concept phase. The article demonstrates quantitatively that the tie rod forces, and thereby especially the tire bore torque, cause the largest fraction of the power demand at the rack. For this reason, the prediction of the bore torque is investigated in detail, whereby basic approaches from the literature are analyzed and enhanced. Furthermore, an approach is derived

Ketzmerick, Erik, Abel, Hendrik, Prokop, Günther

Research on Real-time Obstacle Avoidance by Deceleration and Lane-changing Trajectory Planning and Tracking Strategy Based on Dual Algorithm Control

2021-01-126210/11/2021

Aiming at the problem of poor robustness after the combination of lateral kinematics control and lateral dynamics control when an autonomous vehicle decelerates and changes lanes at a certain distance. This paper proposes a trajectory determination and tracking control method based on a PI-MPC dual algorithm controller. In order to describe the longitudinal deceleration that satisfies the lateral acceleration limit during a certain distance of lane change, firstly, a fifth-order polynomial and a uniform deceleration motion formula are established to express the lateral and longitudinal displacements, and a model prediction (MPC) controller is used to output the front wheel rotation angle. Through the dynamic formula and the speed proportional integral (PI) controller to control and adjust the brake pressure. Based on Simulink and Carsim co-simulation to optimize the best lane change completion time at different longitudinal lane change speeds, the relationship between the vehicle

Yin, Jian, Chen, Xu Jia, Zu, Bingfeng, Xu, Yuliang, Zhou, Jianwei

Bump steer and Brake steer optimization in steering linkages through TAGUCHI method DOE analysis

2021-26-007909/22/2021

Due to recent infrastructural development and emerging competitive automotive markets in India, there is seen a huge shift in customer’s demand and vehicle drivability pattern in commercial vehicle industry. Now apart from ensuring better vehicle durability and best in class tyre life and fuel mileage, a vehicle manufacturer also has to focus on other key attributes like driver’s safety and ride comfort. Thus, for ensuring enhanced drivability, key parameters for ensuring better vehicle handling includes optimization of bump steer and brake steer. Both bump steer and brake steer are vehicle’s undesirable phenomenon where a driver is forced to constantly make steering wheel correction in order to safely maneuver the vehicle in the desired path. Since both bump steer and brake steer are caused due to the interactions of several vehicle parameters such as – drop arm and steering arm hard point, suspension stiffness, suspension eye and shackle position, caster angle, draglink length etc

Chopra, Nitin, P, Mahadevan

Influence of Asymmetrical Design Parameter on Vehicle Pull During Brake Application

2021-26-035409/22/2021

Abstract: The steering system of commercial vehicle is asymmetrical to left side and right side, this causes vehicle pull during braking application. This directly affects the safety of the driver and vehicle ride & handling performance. In a similar way, the asymmetrical suspension parameter unintentionally set during vehicle assembly are also major contributors for creating a vehicle pull. After application of brake force, the tire contact patch creates a moment about the kingpin axis. However, this moment generated is different on left and right-side due to asymmetrical design parameters resulting in vehicle deviation from its intended path. A large deviation may lead to on road accidents. Some of the major factors which are responsible for the vehicle pulling phenomenon are the asymmetrical steering system compliance, asymmetrical suspension geometry, tire, braking system, road camber etc. The present work is useful to analyze the effect of change (left to right side) in the

Dethe, Sachin, Khandekar, Dhiraj, Dhawad, Ashwin, Tiwari, Chaitanya

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