Using the haptic modality to transfer information to the driver is recognized as a promising possibility in many in-vehicle applications. In the field of lane departure warning systems, several haptic warning signals were presented in the last years. The application of synthetic steering wheel torque or vibration informs the driver of an imminent lane departure. In this paper, an approach to cl...

Authors: Werner Kober, Martin Ehmann and Torsten Butz The increasing number of vehicle dynamics control systems in modern vehicles requires a fully integrated concept, which considers the different controller functions and adjusts them with respect to each other. The modelbased development and the verification of the global chassis controller of Magna Steyr is presented with reference to the co...

This paper presents an active steering control strategy that improves the performance of rail vehicles on track curves. The control scheme is developed to explore the usually symmetrical arrangement of bogie suspensions such that only simple and practical sensors are needed. The vehicle configuration and requirements of wheelset steering on curves are explained, before the detailed control desi...

A steering by wired haptic system based on disturbance rejection control techniques is presented. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle. The estimate...

What does the invention do? This invention presents a modular system of units that can drive, brake, steer and suspend an electric vehicle. These units are also referred to as “Robot Wheels” because they are autonomous elements that can be connected to any electric vehicle chassis. Each unit (Fig.1) includes an electric motor, a steering element, a suspension arm and a connector. The system fit...

Multiple-wheel all-terrain vehicles without a steering system must use great amounts of power when skid steering. Skid steering is modeled with emphasis put on the ground contact forces of the wheels according to the mass distribution of the vehicle. To increase steering efficiency, it is possible to modify the distribution of the normal contact forces on the wheels. This paper focuses on two a...

An Ackerman steering linkage for short wheelbase, four-wheel vehicles has been developed. The linkage coordinates the steering angle of each wheel through a range of 180 degrees with minimal misalignment between wheels. Control of steering angles is accomplished using a single linear actuator. Control complexity is lower compared to four-wheel systems using individually controlled steering actu...

115 Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the world’s first autonomous vehicles to steer using a novel localizing ground-penetrating radar. At nine tons, these autonomous vehicles are some of the largest to be put into combat operations to date. The vehicle is guided by a novel derivation of the pure pursuit steering algorithm adapted to a proportional four-w...

A fuzzy control design method for four-wheel-steering vehicles, using fuzzy models, is presented. The design model is obtained from a vehicle model using fuzzy modeling approach. In the first step of the controller design, an optimal steering controller is proposed for each local model using LQR method. Then, the local controllers are combined using fuzzy rules to form a fuzzy controller. In th...

Autonomous Guided Vehicles (AGVs) using omnidirectional wheels can change their moving direction flexibly without the use of steering wheel. Is it possible that a vehicle with standard pneumatic (as in normal vehicle) its by technique regulating driving torque supplied to each wheel? In this article, simulated motion trajectories two types vehicles were presented, are Mecanum and (normal wheels...