This paper presents a coupling control strategy of force and displacement for an electric differential power steering (EDPS) system to improve maneuverability handling stability vehicles with motorized wheels. In order investigate mutual influences between drivers, models the EDPS system, vehicle, tire as well actuate motor are introduced. Then, by analyzing key factors that affect interaction optimum hand wheel torque is developed actualized difference two front wheels based on H <sub...

This paper presents a fault-tolerant control (FTC) method for electric vehicles with independently driven in-wheel-motors (IWM) considering individual human driver steering characteristics. Both the model and vehicle lateral dynamic are formed FTC strategy design while taking into account modeling inaccuracies. Based on driver-vehicle system model, dual-loop, sliding-mode controller is designed to deal IWM fault accomplish motion in customized way explicit respect The proposed contains two...

This paper presents a segmented trajectory planning strategy for active collision avoidance system. Considering the longitudinal and lateral movement of obstacle vehicle, as well ego vehicle outer contour limitations, is divided into three segments: lane changing, overtaking back to original lane. The starting point end lane-change are decided based on safety distance model according relative speed two vehicles. Based system objective function cluster, states, dynamic constraints body...

This article proposes an individual auxiliary and fault-tolerant control (IAFTC) for the electric vehicles with steer-by-wire system considering different drivers steering characteristics. It is composed of controller, a fault detection diagnosis controller (FDDC), controller. The used to specifically assist drivers' behaviors maintain their style when motors are healthy. FDDC detects estimates state parameter actuators in real time as well feedbacks condition or extent partial damage...

Vehicle lateral velocity is critical for the high-level automatic driving technology, andyyfusing Global Position System (GPS) in estimation method can greatly improve accuracy. However, fusing GPS seldom reported, since problem of GPS-outage often appears. Accordingly, this article proposes a novel (VLVEM) based on SBI-LSTM environment. Additionally, VLVEM integrating Inertial Navigation System-aided (INS-aided GPS) derived from Federated Kalman Filter (FKF) algorithm. Furthermore, during...

In this paper, a path tracking control for active rear steering vehicles considering driver characteristics is proposed to help drivers track the desired vehicle trajectory in tailored way. Firstly, model established, and based on data, parameters are identified by least square method. Based parameter identification, models formed MPC controller design. design, global objective function, task performance, stability, driver's physical workloads, mental workloads actuator designed optimize...

To improve the maneuverability, stability, and reliability of steer-by-wire system, a two-way H ∞ control method with fault-tolerant module is proposed in this paper. First, scheme proposed. Two controllers are designed scheme: one used as feedback controller general practice to stabilize system detect tracking error; other feed forward make output follow driver’s steering intention rapidly precisely. Second, aiming at front wheel angle sensor which an important signal added system. A...

We used atomic force microscopy (AFM) and surface plasmon resonance (SPR) to study the conformations of an anti-ricin aptamer its specific binding affinity for ricin molecules. The effect modification Au(111) substrate on was also estimated. AFM topography images had a resolution high enough distinguish different conformations. site molecule clearly located by recognition images. modified with carboxymethylated-dextran (CD) showed both similarities differences from one without CD...

Abstract This paper presents an energy-efficient control strategy for electric vehicles (EVs) driven by in-wheel-motors (IWMs) based on discrete adaptive sliding mode (DASMC). The nonlinear vehicle model, tire model and IWM are established at first to represent the operation mechanism of whole system. Based modeling, two virtual variables used longitudinal yaw efforts coordinate motion control. Then DASMC method is applied calculate required total driving torque moment, which can improve...

In recent years, consequent‐pole permanent magnet (CPM) machines draw much attention due to their high utilisation ratio of (PM) material. However, they have some disadvantages, such as the even‐order harmonics airgap flux density, which may cause asymmetric phase back‐EMF and increase torque ripple. this study, a novel hybrid‐pole PM (HPM) machine is proposed, in rotor combines spoke‐type rotors. The working principle proposed HPM analysed based on equivalent magnetic circuit, validated by...

To improve the vehicle stability and driver steering performance, this paper presents an individualized yaw control strategy based on H ∞ robust for active front (AFS) vehicles. A driver-vehicle system, including a model dynamics with AFS, is formed. analyze characteristics of different drivers, set driving data 36 drivers collected, driver’s parameters are identified by using particle swarm optimization (PSO) algorithm. general evaluation function considering trajectory tracking stability,...

To improve the human-vehicle cooperation and vehicle yaw stability in trajectory tracking, a terminal sliding mode-based individualized tracking control strategy via haptic assistance is presented this paper. The driver-vehicle system model, including dynamics active front steering (AFS) driver's arm built for further controller design. A nonsingular fast mode (NFTSM)-based to generate torque driver. Then, an on-line sequence extreme learning machine (OS-ELM)-based estimator introduced...

In order to explore the nature of human-vehicle game problem and analyze torque-angle interaction between two agents, i.e. driver advanced assistance system (ADAS), a stability control strategy based on Nash negotiation principle is proposed. First six-order vehicle dynamic model, neuromuscular (NMS) etc., are set up simulate drivers' steering characteristics vehicles' response input agents external disturbance. Secondly, several significant parameters in NMS model recognized, an active rear...

In order to make safe and reasonable decisions in some high-risk environments such as the mandatory lane change, we propose an IMM-based partially observable Markov decision process (POMDP) algorithm using collision-risk function which combines time-to-collision (TTC), intervehicular time (IT), collision for change. The newly proposed contains two parts: vehicle impact factor function, is used assess risk determines whether autonomous collides with surrounding vehicles. IMM-base POMDP...

A frequency-shift keying (FSK) modulation based method for laser power transfer (LPT) system is proposed in this digest to achieve and data integrated transmission. In method, by pulsing the beam, only determined amplitude duty cycle of pulse laser. Thus, frequency laser, which does not affect flow, can be employed modulation. As a result, decoupled LPT system. The simulation results are provided paper validate effectiveness approach.

This paper presents a CP spoke type PM structure with optimal pole arc to improve the output torque without deteriorating performance of machine. Compared surface-mounted (CP SPM) machine, flux-enhancement capability for improving maximum is analytically derived and conformed by finite-element analysis (FEA). Furthermore, unipolar end leakage flux machine can be eliminated effectively. For traditional SPM, V interior (IPM) PM, electromagnetic performance, including air-gap density,...

Intelligent driving has been prevailing worldwide and is also challenging, which can be complicated by the factors of human drivers. In this paper, a novel collision avoidance strategy proposed to enhance safety in highway overtaking comprehensively considering driver’s steering intent. First, order capture operational characteristics from data, we formulate prediction intent ego vehicle’s states as multivariate time series (MTS) forecasting problem, then handled deep learning with pattern...

With the advancement of X-by-wire chassis technology, number CAN bus-mounted nodes in steering-by-wire (SbW) vehicles has increased, resulting an increase input time delay (ITD) SbW system's control input. When maximum ITD (MITD) exceeds critical value (ITD-CV) that controller can tolerate, system would diverge, causing a major accident. In order to improve performance systems, novel strategy is proposed, containing analysis part and design part. part, eigenroot-based ITD-CV stable range...