Konghui Guo's research while affiliated with Jilin University and other places
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Publications (87)
In order to balance the performance index and computational efficiency of the active suspension control system, this paper offers a fast distributed model predictive control (DMPC) method based on multi-agents for the active suspension system. Firstly, a seven-degrees-of-freedom model of the vehicle is created. This study establishes a reduced-dime...
Aiming to improve the distance per charge of four in-wheel independent motor-drive electric vehicles in intelligent transportation systems, a hierarchical energy management strategy that weighs their computational efficiency and optimization performance is proposed. According to the information of an intelligent transportation system, a method comb...
In this study, a hierarchical chassis control strategy is designed to enhance vehicle economy and safety for four-wheel independent-drive electric vehicles (FWID-EVs). In the upper-level, a vehicle dynamics model based on multiple agents is proposed, and a distributed model predictive control (DMPC) method is designed to dimensionally solve the pro...
There has been a growing interest in nonlinear model predictive control (NMPC) for the motion control of autonomous driving. However, it is odd that integration stability has not been considered enough when developing these applications for autonomous driving, which results in inefficient performance of NMPC-based motion controllers. The stabilized...
Model predictive control (MPC) is the mainstream method in the motion control of autonomous vehicles. However, due to the complex and changeable driving environment, the perturbation of vehicle parameters will cause the steady-state error problem, which will lead to the degradation of controller performance. In this paper, the offset-free MPC contr...
Model predictive control (MPC) is widely used in the motion control of autonomous vehicles. However, the conventional MPC relies on an accurate model and cannot achieve offset-free tracking in steady-state when the autonomous vehicle encounters external disturbance and parameter perturbation. Based on our recently designed C++ offset-free MPC (OF-M...
There has been a growing interest in nonlinear model predictive control (NMPC) for the motion control of autonomous driving. However, it is odd that integration stability has not been considered enough when developing these applications for autonomous driving. The stabilized explicit RungeKutta (RK) integration method is proposed in this paper to s...
Universal challenge lies in torque feedback accuracy for steer-by-wire systems, especially on uneven and low-friction road. Therefore, this paper proposes a fusion method based on Kalman filter that combines a dynamics-reconstruction method and disturbance observer-based method. The dynamics- reconstruction method is designed according to the vehic...
Most of the existing torque vectoring control (TVC) strategies are “vehicle-centered,” hence, fail to consider how driving characteristics affect the vehicle's motion. To address this issue, we propose a hierarchically structured human-
centered TVC (HCTVC) for distributed drive electric vehicles (EVs). To do this we design the experiment to chara...
The driving torques of all four wheels of distributed drive electric vehicles are independently controllable, and acceleration slip regulation (ASR) can be realized through the coordinated effort of torque actuators. Considering the multiple actuator coupling, nonlinearity, uncertainty and actuator faults in an ASR system, an adaptive nonsingular t...
In this paper, vehicle stability with time‐varying tire cornering stiffness and tire slip energy torque distribution is investigated for four‐in‐wheel motor drive electric vehicles thanks to the control flexibility. On the issue of tire slip energy, a scheme of “semi‐empirical tire slip energy model” is proposed and analyzed. In this scheme, the hi...
Abstract Lane‐changing manoeuvres are essential for daily driving tasks. Safety and comfort are the primary issues to be considered during the lane‐changing manoeuvres of autonomous vehicles. However, because the traffic environment is complicated and changeable, executing fixed lane‐changing manoeuvres cannot guarantee safety and comfort. Thus, it...
The roll centre (RC) is a core parameter for vehicle lateral dynamics and control, which can be obtained via suspension geometry configuration or suspension kinematics and compliance (K&C) test. However, these methodologies are used for laboratory tests and are suitable at low lateral acceleration. In other words, the RC is hard to measure directly...
Energy efficiency is extremely important for electric vehicles to improve their driving range. As the motor output energy directly acts on the tire, the tire slip energy generated by tire excessive slip will reduce the effective utilization of motor output energy, resulting in the reduction of energy efficiency, especially in the case of low fricti...
In this paper, a discrete tire model of cornering properties for road vehicles relating to tire grip performance, which is important for driving stability and safety, is presented. The proposed tire model combines realistic rubber friction related to velocity and tire grip performance with deformation of the carcass. The model can describe the stre...
In order to make full use of the direct yaw control (DYC) in electric vehicles with four in-wheel motors (IWMs), this paper presents an adaptive SMC control scheme to improve the handling and stability based on a novel stability index proposed to quantitatively represent stability level. Firstly, a vehicle stability evaluation method is designed ba...
Automobile becomes more and more personalized and humanized on the promise of safety, comfort, energy saving, environmental protection. This trend requires the OEM grasp the consumers’ functional demands and psychological needs clearly, cascade and predict the developing automobile’s performance accurately during the automobile design and developme...
To improve the maneuverability and stability of a vehicle and fully leverage the advantages of torque vectoring technology in vehicle dynamics control, a finite-time yaw rate and sideslip angle tracking controller is proposed by combining a second-order sliding mode (SOSM) controller with the backstepping method in this paper. However, existing res...
This article introduces a reliable fusion methodology for vehicle sideslip angle estimation, which only needs the Controller Area Network–Bus signals of production vehicles and has good robustness to vehicle parameters, tire information, and road friction coefficient. The fusion methodology consists of two basic approaches: the kinematic-based appr...
Magnetorheological fluid has been investigated intensively nowadays, and magnetorheological fluid shows large force capabilities in squeeze mode with wide application potential such as control valve, engine mounts, and impact dampers. In these applications, magnetorheological fluid is flowing in a dynamic environment due to the transient nature of...
An appropriate spacing policy improves traffic flow and traffic efficiency while reducing commuting time and energy consumption. In this paper, the integrated spacing policy that combines the benefits of the constant time headway (CTH) and safety distance (SD) spacing policies is proposed in an attempt to improve traffic flow and efficiency. Firstl...
To improve the maneuverability of a vehicle and fully leverage the advantages of torque vectoring control (TVC) in improving vehicle dynamics, a method to analytically improve the cornering response based on TVC is proposed in this paper. A feedforward and feedback control architecture based on a twodegree- of-freedom (2-DOF) vehicle model is first...
Tire wear and overuse are serious issues for four-in-wheel-motor-driven electric vehicles (FIWMD EVs). As a result, this paper proposes a hierarchical control framework to improve the safety of FIWMD EVs while save the tire slip energy (i.e. reduce the tire wear), which includes a linear quadratic regulator (LQR) in the outer layer and a holistic c...
This study describes a cooperative chassis control system that controls longitudinal motion in accordance with the yaw movement for electric vehicles. This system can be used to improve vehicle agility and stability using the integration of torque distribution unit and electronic stability control (ESC). Moreover, this system can assist drivers smo...
Driverless vehicles interacting with other traffic participants, such as cars, pedestrians and bicycles inevitably will inevitably interact in complex traffic environment. During the interaction, all potential collisions must be avoided to ensure driving safety. Based on the model predictive control, this paper analyzed the active obstacle avoidanc...
This paper presents a novel nonlinear dynamic model of a multi-axle steering vehicle to estimate the lateral wear amount of tires. Firstly, a 3DOF nonlinear vehicle dynamic model is developed, including dynamic models of the hydropneumatic suspension, tire, steering system and toe angle. The tire lateral wear model is then built and integrated into...
The path following and directional stability are two crucial problems when a road vehicle experiences a tire blow-out or sudden tire failure. Considering the requirement of rapid road vehicle motion control during a tire blow-out, this article proposes a novel linearized decoupling control procedure with three design steps for a class of second ord...
This paper presents an electro-hydraulic semi-active damper to harvest the suspension kinetic energy for the purpose of further improving the fuel efficiency of off-road vehicles. This regenerative damper can transform the reciprocating suspension vibration into unidirectional generator rotation, and meanwhile achieve approximately asymmetric rebou...
For vehicle rollover control systems, an accurate and predictive rollover index is necessary for a precise rollover threat detection and rollover prevention. In this paper, the contour line of load transfer ratio (CL-LTR) and the CL-LTR-based vehicle rollover index (CLRI) are proposed, describing LTR threshold and LTR change rate precisely, providi...
Magnetorheological damper has been widely used for improving vehicle ride comfort and handling because of its excellent performance. Numerous reinforced structures of magnetorheological dampers have been developed to enhance their dynamic performance and heat dissipation. This article presents a novel pumping magnetorheological damper with one-way...
Magnetorheological (MR) devices have been investigated intensively nowadays, of which MR valve is an important and hot application with the challenges of acquiring high pressure drop within compact configurations. Hence, a novel squeeze mode based MR valve (SMRV) is proposed in this paper, with highlights of high pressure drop and low power consump...
Vehicle suspension vibration can cause damping oil temperature-rise, which further effects the suspension performance, rapids the suspension failure, and goes against the vehicle fuel efficiency. This paper focuses on the suspension vibration energy conversion mechanism and energy harvest potential analysis. A mathematical model is developed to cha...
Scissor seat suspension has been applied widely to attenuate the cab vibrations of commercial vehicles, while its design generally needs a trade-off between the seat acceleration and suspension travel, which creates a typical optimisation issue. A complexity for this issue is that the optimal dynamics parameters are not easy to approach solutions f...
With the development of the advanced driver assistance system and autonomous vehicle techniques, a precise description of the driver’s steering behavior with mathematical models has attracted a great attention. However, the driver’s steering maneuver demonstrates the stochastic characteristic due to a series of complex and uncertain factors, such a...
This paper designs a membranous dual-cavity based amplitude sensitive damper (shorted as MASD) for road vehicle suspension to better compromise ride comfort and driving safety. A specially designed sleeve, separated into two cavities by a rubber membrane, is centrally placed along the main piston of conventional twin-tube damper. The volume change...
Scissor seat suspension is used widely for attenuating the cab vibration of commercial vehicles, and obtaining its dynamics characteristics accurately is the basis of scissor seat suspension optimization, control and development. As a result, this paper focuses on the scissor seat suspension dynamics modeling and characteristics analysis. Firstly,...
The tire lateral force is essential to the vehicle handling and stability under cornering. However, it is difficult for engineers to get the tire lateral force under high loading condition due to the limitation of loading ability for most tire test machine in the world. The widely used semi-empirical tire lateral force models are obtained by curve-...
To achieve an optimal solution for the conflicting vehicle performance requirements, such as the handling stability and ride comfort, a novel dual-mode interconnected suspension (DIS) with a switching configuration depending on the vehicle working conditions is proposed in this paper. The DIS system has two modes: default mode and anti-pitch mode,...
In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model ‘UniTire’. Second, without the reference model accuracy degraded, the...
This paper presents a torque distribution algorithm to improve the energy efficiency of four-wheel-drive (4WD) electric vehicles with PMSM hub motors. In order to optimize the torque distribution method, at first the motor model considering the affect of iron loss and the loss model of multi-motors drive system of 4WD electric vehicle with PMSM hub...
Four-wheel-drive electric vehicles (4WD Evs) utilize in-wheel electric motors and Electro-Hydraulic Braking system (EHB). Then, all wheels torque can be controlled independently, and the braking pressure can be controlled more accurately and more fast than conventional braking system. Because of these advantages, 4WD Evs have potential applications...
In order to improve the vehicle fuel economy, ride comfort and handling, this paper presents the design, modeling, and performance study of a novel hydraulic pumping regenerative suspension based on an energy recovery unit and a hydraulic actuator. It can harvest energy from suspension vibration and lessen damping oil temperature rising. In additio...
In this paper, a sliding mode observer for estimating vehicle slip angle and tire forces is developed. Firstly, the sliding mode observer design approach is presented. A system damping is included in the sliding mode observer to speed the observer convergence and to decrease the observer chattering. Secondly, the sliding mode observer for vehicle s...
The tire mechanical characteristics under combined cornering and braking/driving situations have significant effects on vehicle directional controls. The objective of this paper is to present an analytical tire model with flexible carcass for combined slip situations, which can describe tire behavior well and can also be used for studying vehicle d...
Magneto-rheological fluid squeeze mode investigations have shown that MR fluids show large force capabilities in squeeze mode and it can be used for isolating vibration. An MR squeeze mount's magnet system will be designed and optimized in this research. An FEM model of the magnetic supply system of a Magnetorheological squeeze mount is developed a...
A novel direct yaw moment controller is developed in this paper. A hierarchical control architecture is adopted in the controller design. In the upper controller, a driver model and a vehicle model are used to obtain the driver's intention and the vehicle states, respectively. The upper controller determines the desired yaw moment by means of slidi...
This paper introduces the theory of algorithm results of different image processing techniques in lane marking line recognition, including binarize, edge detection and lane extraction. Analyze and compare the accuracy of the each stages of processing algorithms, reliability and real - time performance. And then compare the various combinations of a...
In this paper a tire model for describing tire turn slip properties is derived. The tread of the contact patch is divided into many massless elastic elements in both the length and width direction. Carcass deformation is expressed by the translation, bending and twisting function. A turn slip tire model is derived by analyzing the geometric relatio...
The tire mechanics characteristics are essential for analysis, simulation and control of vehicle dynamics. This paper develops the UniTire model for tire forces and moments under combined slip conditions with anisotropic tire slip stiffness. The anisotropy of tire slip stiffness, which means the difference of tire longitudinal slip stiffness and co...
The properties of contact patch are key factors for tire modeling. Researchers have paid more attention to the contact patch shape and vertical pressure distribution. Some innovative concepts, such as Local Carcass Camber, have been presented to explain special tire modeling phenomena. For a pragmatic tire model, a concise model structure and fewer...
Vehicle dynamics are directly dependent on tire-road contact forces and torques which are themselves dependent on the wheels’ load and tire-road friction characteristics. An acquisition of the road disturbance property is essential for the enhancement of vehicle suspension control systems. This paper focuses on designing an adaptive real-time road...
The road surface roughness is the main source of kinematic excitation of a moving vehicle, which has an important influence on vehicle performance. In recent decades, random road models have been widely studied, and a four-wheel random road time domain model is usually generated based on the correlation of the four-wheel input, in which a coherence...
This paper proposes the integrated controller of the yaw and rollover stability controls based on the prediction model. A nonlinear 3-DoF vehicle model with a piecewise linearization tire model is built up as the rollover predictive model, and its accuracy is verified by vehicle tests. A yaw stability controller and a rollover stability controller...
Based on the preview optimal simple artificial neural network driver model (POSANN), a new driver model, considering jerky dynamics and the tracing error between the real track and the planned path, is established. In this paper, the modeling for the driver-vehicle system is firstly described, and the relationship between weighting coefficients of...
This paper introduces a new pneumatic spring for vehicle suspension systems, allowing independent tuning of stiffness and ride height according to different vehicle operating conditions and driver preferences. The proposed pneumatic spring comprises a double-acting pneumatic cylinder, two accumulators and a tuning subsystem. This paper presents a d...
A novel predictable tire model has been proposed for combined braking and cornering forces, which is based on only a few pure baking and pure cornering tests. It avoids elaborate testing of all kinds of combinations of braking and side forces, which are always expensive and time consuming. It is especially important for truck or other large size ti...
The damping property of a pneumatic suspension with orifice-type fluidic resistance is characterized in this study. The nonlinear and linear models for the suspension system are first formulated and experimentally verified. The verified linear model is employed to derive a new pneumatic damping measure, equivalent damping ratio, based on which a pn...
In this paper, a shock absorber physical model is developed. Firstly, a rebound valve model which is based on its structure parameters is built through using the large deflection theory. The von Karman equations are introduced to discover the physical relationships between the load and the deflection of valve discs. An analytical solution of the vo...
The objective of this paper is to enhance the accuracy of tire model combined tire cornering and braking forces with anisotropic tread and carcass stiffness. The difference of tire longitudinal slip stiffness and cornering stiffness will arouse that the direction of tire resultant shear stress in adhesion region is not the same as that in sliding r...
Firstly, a hydraulic model was carried out based on the structure of a certain hydro-pneumatic spring. Furthermore, with the distortion being involved, the dynamics model with the consideration of the distortion was built in Matlab/Simulink. Finally, the validity and accuracy of the model was evaluated through the comparison between the simulation...
Magneto-rheological fluid squeeze mode investigations at CVeSS have shown that MR fluids show large force capabilities in squeeze mode. A novel MR squeeze mount was designed and built at CVeSS, and a dynamic mathematical model was developed, which considered the inertial effect and was validated by the test data. A variant engine mount that will be...
Tire force and moment properties are the function of rolling distance and always show non-steady state behaviors with varying slip angle and vertical load. In this paper, considering flexible carcass, a tire side slip rolling model is presented and some simulations are demonstrated. Such model can serve as benchmark for developing pragmatic semi-ph...
UniTire steady state model is a unified non-linear tire model for vehicle dynamic simulation and control under complex wheel motion inputs involving large lateral slip, longitudinal slip, turn-slip and camber. Firstly, brief history of UniTire development was introduced, and then more detailed features of UniTire steady state model were given, thir...
Inerters have become a hot topic in recent years, especially in vehicle, train, and building suspension systems. The performance of a passive inerter and a semi-active inerter was analyzed and compared with each other and it showed that the semi-active inerter has much better performance than the passive inerter, especially with the Hybrid control...
This study investigates the fundamental stiffness and damping properties of a self-damped pneumatic suspension system, based on both the experimental and analytical analyses. The pneumatic suspension system consists of a pneumatic cylinder and an accumulator that are connected by an orifice, where damping is realized by the gas flow resistance thro...
This paper discusses relationships and differences between a tire under braking and driving conditions, and the processes utilized to predict the tire's driving force characteristics. In the current paper, dynamic normal load distribution and dynamic friction are included into the analytical tire model which is validated by comparing simulated resu...
Empirical tire models provide a reasonably good representation of experimental data for tire lateral force and aligning moment properties. However, empirical models would become quite complicated while increasing input dimensions without theoretical support. This paper deals with a theoretical model taking flexible carcass lateral deformation chara...
In this paper, an analytical driver model in the form of a simple artificial neural network is presented. Based on the preview-follower theory and error elimination algorithm, all the driver model parameters can be calculated analytically. In order to extend the driver model's application scope, all the driver parameters are fitted as the functions...
Vehicle behaviors under extreme cornering are complex events that might result in rollover accidents. Simulations have been extensively used in the auto industry to protect vehicles from such accidents. Predictive capability of simulation relies on how accurate the math-based model represents the vehicle and its operating condition. Camber effects...
The purpose of this paper is to investigate the effects of dynamic road friction on a tyre’s mechanical properties. Despite the fact that most existing analytical tyre models tend to ignore the speed-dependent effects on the tyre’s forces, many experiments have demonstrated that the force and moment of a tyre actually vary with the travelling speed...
The UniTire model is a nonlinear and non-steady-state tyre model for vehicle dynamics simulation and control under complex wheel motion inputs involving large lateral slip, longitudinal slip, turn slip and camber. The model is now installed in the driving simulator in the Automobile Dynamic Simulation Laboratory at Jilin University for studying veh...
Since the autonomous vehicle is intended to simulate a human driver's behaviour, it is very helpful to introduce a driver model to the design of the autonomous vehicle controller. The intention of this paper is to exhibit the approaches of building a longitudinally and laterally integrated driver model and the methods of applying the model in auton...
This study is to describe the transient force and moment characteristics of tyres involving large lateral slip, longitudinal slip, turn-slip and camber, and to develop a dynamic tyre model applicable to vehicle dynamic simulation and control for extreme operating conditions. Based on the steady state USES tire model [4,6], the effective slip ratios...
Citations
... A three-step nonlinear method of multi input and multi output is proposed to design longitudinal and lateral path tracking controllers. Finally, the stability of the closed-loop system is strictly proved based on Lyapunov function, and the effectiveness of the algorithm is verified through a high fidelity full vehicle model on the veDYNA (Vehicle dynamics) platform [12]. To sum up, the research on the control algorithm of driverless vehicles has made certain achievements. ...