Browsing by Subject "Vehicles"

Now showing 1 - 10 of 10

Open Access
An automotive vehicle dynamics prototyping platform based on a remote control model car
(2013) Solmaz, S.; Coşkun, Türker
The use of a modified remote control (RC) model car as a vehicle dynamics testing and development platform is detailed. Vehicle dynamics testing is an important aspect of automotive engineering and it plays a key role during the design and tuning of active safety control systems. Considering the fact that such tests are conducted at great expense, scaled model cars can potentially be used to help with the process to reduce the costs. With this view, we instrument and develop a standard electric RC model car into a vehicle dynamics testing platform. We then implement 2 representative active safety control applications based on this platform, namely an antilock brake system using open-loop pulse brake control and a roll-over prevention system utilizing lateral acceleration feedback. Both applications are presented with sensor measurements and the effectiveness of the suggested control algorithms are demonstrated. © TÜBİTAK.
Open Access
A Benders decomposition approach for the charging station location problem with plug-in hybrid electric vehicles
(Elsevier, 2016) Arslan, O.; Karaşan, O. E.
The flow refueling location problem (FRLP) locates p stations in order to maximize the flow volume that can be accommodated in a road network respecting the range limitations of the vehicles. This paper introduces the charging station location problem with plug-in hybrid electric vehicles (CSLP-PHEV) as a generalization of the FRLP. We consider not only the electric vehicles but also the plug-in hybrid electric vehicles when locating the stations. Furthermore, we accommodate multiple types of these vehicles with different ranges. Our objective is to maximize the vehicle-miles-traveled using electricity and thereby minimize the total cost of transportation under the existing cost structure between electricity and gasoline. This is also indirectly equivalent to maximizing the environmental benefits. We present an arc-cover formulation and a Benders decomposition algorithm as exact solution methodologies to solve the CSLP-PHEV. The decomposition algorithm is accelerated using Pareto-optimal cut generation schemes. The structure of the formulation allows us to construct the subproblem solutions, dual solutions and nondominated Pareto-optimal cuts as closed form expressions without having to solve any linear programs. This increases the efficiency of the decomposition algorithm by orders of magnitude and the results of the computational studies show that the proposed algorithm both accelerates the solution process and effectively handles instances of realistic size for both CSLP-PHEV and FRLP.
Open Access
A branch-and-price algorithm for the vehicle routing problem with roaming delivery locations
(Elsevier Ltd, 2017) Ozbaygin G.; Ekin Karasan O.; Savelsbergh M.; Yaman, H.
We study the vehicle routing problem with roaming delivery locations in which the goal is to find a least-cost set of delivery routes for a fleet of capacitated vehicles and in which a customer order has to be delivered to the trunk of the customer's car during the time that the car is parked at one of the locations in the (known) customer's travel itinerary. We formulate the problem as a set-covering problem and develop a branch-and-price algorithm for its solution. The algorithm can also be used for solving a more general variant in which a hybrid delivery strategy is considered that allows a delivery to either a customer's home or to the trunk of the customer's car. We evaluate the effectiveness of the many algorithmic features incorporated in the algorithm in an extensive computational study and analyze the benefits of these innovative delivery strategies. The computational results show that employing the hybrid delivery strategy results in average cost savings of nearly 20% for the instances in our test set. © 2017 Elsevier Ltd
Open Access
Concurrent design of energy management and vehicle traction supervisory control algorithms for parallel hybrid electric vehicles
(Institute of Electrical and Electronics Engineers Inc., 2016) Dokuyucu, H. I.; Cakmakci, M.
In this paper, concurrent design of energy management (EM) and traction control algorithms for a vehicle equipped with a parallel hybrid powertrain is studied. This paper focuses on designing the two control algorithms together as one control design problem, which are traditionally considered separately. First, optimal control actions and operating points are obtained by applying dynamic programming (DP). Then, this information is used for developing a rule-based supervisory controller. Our objective is to minimize the fuel consumption and the wheel slip simultaneously. Two control problems are also solved separately and compared with the concurrent solution. Results show that promising benefits can be obtained by using the concurrent design approach rather than considering two control problems separately. Under the same conditions, the vehicle with the concurrent supervisory controller is 16% more efficient in fuel consumption and experiences 12% less wheel slip, assuming slippery road friction conditions. © 1967-2012 IEEE.
Open Access
Dynamic dispatching algorithm for scheduling machines and automated guided vehicles in a flexible manufacturing system
(Taylor & Francis, 1992) Sabuncuoglu, Ihsan; Hommertzheim, D. L.
In this paper, an on-line dispatching algorithm is proposed for the FMS scheduling problem. The algorithm uses various priority schemes and relevant information concerning the load of the system and the status of jobs in the scheduling process. This information is organized into hierarchical levels. The scheduling decision process is hierarchical in the sense that different decision criteria are applied sequentially to identify the most appropriate part and the machine to be served. The algorithm schedules the jobs on a machine or an automated guided vehicle (AGV) one at a time as the scheduling decision is needed (or as the status of the system changes). Performance of the proposed algorithm is compared with several machine and AGV scheduling rules by using the mean flow-time and the mean tardiness criteria. Simulation results indicate that the proposed algorithm produces significant mean flow-time and mean tardiness improvements over existing scheduling rules for a variety of experimental conditions.
Open Access
A fault tolerant vehicle stability control using adaptive control allocation
(ASME, 2018) Temiz, Ozan; Çakmakçı, Melih; Yıldız, Yıldıray
This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver’s intention are calculated based on the driver’s steering and throttle input and vehicle’s side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.
Open Access
A game theoretical modeling and simulation framework for the integration of unmanned aircraft systems in to the national airspace
(AIAA, 2016) Musavi, Negin; Tekelioğlu, K. B.; Yıldız, Yıldıray; Güneş, Kerem; Onural, Deniz
The focus of this paper is to present a game theoretical modeling and simulation frame- work for the integration of Unmanned Aircraft Systems (UAS) into the National Airspace system (NAS). The problem of predicting the outcome of complex scenarios, where UAS and manned air vehicles co-exist, is the research problem of this work. The fundamental gap in the literature in terms of developing models for UAS integration into NAS is that the models of interaction between manned and unmanned vehicles are insufficient. These models are insufficient because a) they assume that human behavior is known a priori and b) they disregard human reaction and decision making process. The contribution of this paper is proposing a realistic modeling and simulation framework that will fill this gap in the literature. The foundations of the proposed modeling method is formed by game theory, which analyzes strategic decision making between intelligent agents, bounded rationality concept, which is based on the fact that humans cannot always make perfect decisions, and reinforcement learning, which is shown to be effective in human behavior in psychology literature. These concepts are used to develop a simulator which can be used to obtain the outcomes of scenarios consisting of UAS, manned vehicles, automation and their interactions. An analysis of the UAS integration is done with a specifically designed scenario for this paper. In the scenario, a UAS equipped with sense and avoid algorithm, moves along a predefined trajectory in a crowded airspace. Then the effect of various system parameters on the safety and performance of the overall system is investigated.
Open Access
H∞ filter design for vehicle tracking under delayed and noisy measurements
(IEEE, 2007-06) Ezercan, Sami; Özbay, Hitay
In many intelligent vehicles applications tracking plays an important role. This paper considers tracking of a vehicle under delayed and noisy measurements. For this purpose we design an H∞ optimal filter for linear systems with time delays in the state and output variables. By using the duality between filtering and control, the problem at hand is transformed to a robust controller design for systems with time delays. The skew Toeplitz method developed earlier for the robust control of infinite dimensional systems is used to solve the H∞ filtering problem. The results are illustrated with simulations and effects of the time delay on the tracking performance are demonstrated. ©2007 IEEE.
Open Access
Inertial navigation systems for mobile robots
(Institute of Electrical and Electronics Engineers, 1995-06) Barshan, B.; Durrant-Whyte, H. F.
A low-cost solid-state inertial navigation system (INS) for mobile robotics applications is described. Error models for the inertial sensors are generated and included in an Extended Kalman Filter (EKF) for estimating the position and orientation of a moving robot vehicle. Two Merent solid-state gyroscopes have been evaluated for estimating the orientation of the robot. Performance of the gyroscopes with error models is compared to the performance when the error models are excluded from the system. The results demonstrate that without error compensation, the error in orientation is between 5-15"/min but can be improved at least by a factor of 5 if an adequate error model is supplied. Siar error models have been developed for each axis of a solid-state triaxial accelerometer and for a conducting-bubble tilt sensor which may also be used as a low-cost accelerometer. Linear position estimation with information from accelerometers and tilt sensors is more susceptible to errors due to the double integration process involved in estimating position. With the system described here, the position drift rate is 1-8 cds, depending on the frequency of acceleration changes. An integrated inertial platform consisting of three gyroscopes, a triaxial accelerometer and two tilt sensors is described. Results from tests of this platform on a large outdoor mobile robot system are described and compared to the results obtained from the robot's own radar-based guidance system. Like all inertial systems, the platform requires additional information from some absolute position-sensing mechanism to overcome long-term drift. However, the results show that with careful and detailed modeling of error sources, low-cost inertial sensing systems can provide valuable orientation and position information particularly for outdoor mobile robot applications.
Open Access
Model-in-the-loop development for fuel cell vehicle
(IEEE, 2011) Çakmakçı, Melih; Li, Y.; Liu, S.
In this paper, the work on developing and validating a model-in-the-loop (MIL) simulation environment for a group of prototype fuel cell vehicles is presented. The MIL model consists of a vehicle plant model and an integrated vehicle system controller model. First, the vehicle simulation plant model is functionally validated with a simple vehicle system controller (VSC) model and then improved to satisfy the input output interface and fidelity requirements. The developed MIL system is then verified for basic functionality against the simple VSC controller model and shows uniform correlation results. It is further validated against vehicle dynamometer test data and demonstrates satisfactory consistency. A rapid model building approach which is suitable for model-based controller design process was also discussed. This approach enabled the developers to use model-to-code algorithms unlike many comparable simulation models. © 2011 AACC American Automatic Control Council.