Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather
A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF me...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
|
| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/3506053 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849693469555032064 |
|---|---|
| author | Tao Peng Zhiwei Guan Ronghui Zhang Jinsong Dong Kening Li Hongguo Xu |
| author_facet | Tao Peng Zhiwei Guan Ronghui Zhang Jinsong Dong Kening Li Hongguo Xu |
| author_sort | Tao Peng |
| collection | DOAJ |
| description | A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system. |
| format | Article |
| id | doaj-art-302480ef8fc34ff78e8fba35567d3e89 |
| institution | DOAJ |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-302480ef8fc34ff78e8fba35567d3e892025-08-20T03:20:24ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/35060533506053Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy WeatherTao Peng0Zhiwei Guan1Ronghui Zhang2Jinsong Dong3Kening Li4Hongguo Xu5College of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222, ChinaCollege of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222, ChinaGuangdong Key Laboratory of Intelligent Transportation System and Research Center of Intelligent Transportation System, School of Engineering, Sun Yat-sen University, Guangzhou 510275, ChinaKey Laboratory of Operation Safety Technology on Transport Vehicles, Research Institute of Highway Ministry of Transport, Beijing 100088, ChinaState Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, ChinaCollege of Transportation, Jilin University, Changchun 130025, ChinaA new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.http://dx.doi.org/10.1155/2017/3506053 |
| spellingShingle | Tao Peng Zhiwei Guan Ronghui Zhang Jinsong Dong Kening Li Hongguo Xu Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather Journal of Advanced Transportation |
| title | Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather |
| title_full | Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather |
| title_fullStr | Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather |
| title_full_unstemmed | Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather |
| title_short | Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather |
| title_sort | bifurcation of lane change and control on highway for tractor semitrailer under rainy weather |
| url | http://dx.doi.org/10.1155/2017/3506053 |
| work_keys_str_mv | AT taopeng bifurcationoflanechangeandcontrolonhighwayfortractorsemitrailerunderrainyweather AT zhiweiguan bifurcationoflanechangeandcontrolonhighwayfortractorsemitrailerunderrainyweather AT ronghuizhang bifurcationoflanechangeandcontrolonhighwayfortractorsemitrailerunderrainyweather AT jinsongdong bifurcationoflanechangeandcontrolonhighwayfortractorsemitrailerunderrainyweather AT keningli bifurcationoflanechangeandcontrolonhighwayfortractorsemitrailerunderrainyweather AT hongguoxu bifurcationoflanechangeandcontrolonhighwayfortractorsemitrailerunderrainyweather |