Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications
The selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multi...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/12/378 |
| _version_ | 1797461980613705728 |
|---|---|
| author | Wei Dai Yongjun Pan Chuan Min Sheng-Peng Zhang Jian Zhao |
| author_facet | Wei Dai Yongjun Pan Chuan Min Sheng-Peng Zhang Jian Zhao |
| author_sort | Wei Dai |
| collection | DOAJ |
| description | The selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multibody vehicle model for longitudinal-vertical dynamics applicable to advanced driver assistance (ADAS) applications. The dynamic properties of the chassis, suspension, and tires are considered and modeled, which results in accurate vehicle dynamics and states. Unlike the vehicle dynamics models built into commercial software packages, such as ADAMS and CarSim, the proposed nonlinear dynamics model poses the equations of motion using a subset of relative coordinates. Therefore, the real-time simulation is conducted to improve riding performance and transportation safety. First, a vehicle system is modeled using a semi-recursive multibody dynamics formulation, and the vehicle kinematics and dynamics are accurately calculated using the system tree-topology. Second, a fork-arm removal technique based on the rod-removal technique is proposed to reduce the number of bodies, relative coordinates, and equations constrained by loop-closure. This increase the computational efficiency even further. Third, the dynamic simulations of the vehicle are performed on bumpy and sloping roads. The accuracy and efficiency of the numerical results are compared to the reference data. The comparative results demonstrate that the proposed vehicle model is effective. This efficient model can be utilized for the intelligent control of vehicle ADAS applications, such as forward collision avoidance, adaptive cruise control, and platooning. |
| first_indexed | 2024-03-09T17:28:04Z |
| format | Article |
| id | doaj.art-84ecc99af71242259515e594f48be4d3 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T17:28:04Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-84ecc99af71242259515e594f48be4d32023-11-24T12:35:31ZengMDPI AGActuators2076-08252022-12-01111237810.3390/act11120378Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS ApplicationsWei Dai0Yongjun Pan1Chuan Min2Sheng-Peng Zhang3Jian Zhao4College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, ChinaCollege of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, ChinaCollege of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, ChinaDepartment of Mechanical and Biomedical Engineering, Kangwon National University, Chun Cheon 24341, Republic of KoreaState Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, ChinaThe selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multibody vehicle model for longitudinal-vertical dynamics applicable to advanced driver assistance (ADAS) applications. The dynamic properties of the chassis, suspension, and tires are considered and modeled, which results in accurate vehicle dynamics and states. Unlike the vehicle dynamics models built into commercial software packages, such as ADAMS and CarSim, the proposed nonlinear dynamics model poses the equations of motion using a subset of relative coordinates. Therefore, the real-time simulation is conducted to improve riding performance and transportation safety. First, a vehicle system is modeled using a semi-recursive multibody dynamics formulation, and the vehicle kinematics and dynamics are accurately calculated using the system tree-topology. Second, a fork-arm removal technique based on the rod-removal technique is proposed to reduce the number of bodies, relative coordinates, and equations constrained by loop-closure. This increase the computational efficiency even further. Third, the dynamic simulations of the vehicle are performed on bumpy and sloping roads. The accuracy and efficiency of the numerical results are compared to the reference data. The comparative results demonstrate that the proposed vehicle model is effective. This efficient model can be utilized for the intelligent control of vehicle ADAS applications, such as forward collision avoidance, adaptive cruise control, and platooning.https://www.mdpi.com/2076-0825/11/12/378longitudinal-vertical dynamicsvehicle system dynamicsreal-time modelingfork-arm removal techniqueadvanced driver assistance systems |
| spellingShingle | Wei Dai Yongjun Pan Chuan Min Sheng-Peng Zhang Jian Zhao Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications Actuators longitudinal-vertical dynamics vehicle system dynamics real-time modeling fork-arm removal technique advanced driver assistance systems |
| title | Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications |
| title_full | Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications |
| title_fullStr | Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications |
| title_full_unstemmed | Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications |
| title_short | Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications |
| title_sort | real time modeling of vehicle s longitudinal vertical dynamics in adas applications |
| topic | longitudinal-vertical dynamics vehicle system dynamics real-time modeling fork-arm removal technique advanced driver assistance systems |
| url | https://www.mdpi.com/2076-0825/11/12/378 |
| work_keys_str_mv | AT weidai realtimemodelingofvehicleslongitudinalverticaldynamicsinadasapplications AT yongjunpan realtimemodelingofvehicleslongitudinalverticaldynamicsinadasapplications AT chuanmin realtimemodelingofvehicleslongitudinalverticaldynamicsinadasapplications AT shengpengzhang realtimemodelingofvehicleslongitudinalverticaldynamicsinadasapplications AT jianzhao realtimemodelingofvehicleslongitudinalverticaldynamicsinadasapplications |