Forthcoming and Online First Articles

International Journal of Vehicle Safety

International Journal of Vehicle Safety (IJVS)

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International Journal of Vehicle Safety (2 papers in press)

Regular Issues

  • Research on vehicle state estimation based on robust adaptive unscented particle filter   Order a copy of this article
    by Yingjie Liu, Dawei Cui, Yalin Wang 
    Abstract: In order to reduce the influence of historical measurement data errors, a filter estimation method of vehicle state named robust adaptive unscented particle filter(RAUPF) was proposed. Firstly, a 3-DOF nonlinear vehicle dynamics model was established. Then, a joint simulation platform was established. At the same time, the simulation was conducted under three different operating conditions: the sine delay test and the double lane change test and the slop input test. The results showed that compared to the unscented particle filter (UPF) algorithm, the root mean square error (RMSE) and average absolute error (MAE) of the estimation value of the RAUPF are smaller. And also, compared to the UPF algorithm, the robustness of the RAUPF method is better. The proposed RAUPF algorithm can effectively suppress noise fluctuations and improve estimation accuracy.
    Keywords: Vehicle engineering; State estimation; RAUPF.

  • Third-order multi-point preview sliding mode lateral driver model for semi-trailer trains   Order a copy of this article
    by Zhaowen Deng, Yonghui Jin, Wei Gao, Shuchao Wang, Baohua Wang 
    Abstract: To enhance the trajectory tracking accuracy and manoeuvring stability performance of semi-trailer trains, a third-order multi-point preview (TMP) drive model is designed, based on the sliding mode control (SMC) theory. Firstly,a linear three-degree-of-freedom (3-DOF)model of a three-axis semi-trailer train was built, and the validity of which is verified. Lateral deviation of the vehicle preview point is used to determine the optimal rate of change of the optimal lateral acceleration. Based on the deviation, the TMP decision has been successfully made. Then the optimal lateral acceleration obtained from the TMP was deviated from the actual tractor's lateral acceleration, and the deviation was fed into the sliding mode controller. Simultaneously, the SMC drive controller is designed based on the consideration of the semi-trailer train yaw rate and articulated angle. Finally, the TMP-SMC driver model has been simulated and tested in a double line change (DLC) condition, using a combined simulation of MATLAB/Simulink and TruckSim. The designed TMP-SMC driver model is significantly more effective than built-in driver model, which significantly enhances the trajectory following accuracy at low speeds and the manoeuvring stability at high speeds of semi-trailer trains, and reduces the driver's steering effort.
    Keywords: semi-trailer train; lateral driver model; third-order preview; sliding mode control; tracking accuracy; manoeuvring stability; steering effort.

 

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