Active Tilting Vehicle Yaw-Tilt Synchronization Control with Ensembled Bpnn-Rnn
作者单位：China Agricultural University China Mobile Communications Corporation Beijing Co.Ltd.
会议名称：《2023中国汽车工程学会年会暨展览会》
会议日期：2023年
学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 0823[工学-交通运输工程]
关 键 词：active tilting vehicle back-propagation natural network recurrent neural network synchronous control
摘 要：When a narrow vehicle drives on a curve route,it is at risk of rolling overdue to the centrifugal force applied to its yaw ***,an active tilting vehicle should tilt in the opposite direction of centrifugal force when the vehicle is *** the active tilt motion of the vehicle synchronizing with its yaw motion can improve the steering and roll stability of the *** the tilt motion is slower than the yaw motion due to the tilt damping of the *** order to synchronize the tilt motion with the yaw motion of the vehicle,an approach that controls the tilt angle by the prediction of the yaw rate was proposed.A back-propagation natural network and a recurrent neural network were ensembled to predict the yaw rate of the vehicle.A prototype is manufactured based on the proposed *** the prototype is driving on S-curve routes and C-curve routes,the average lag time of tilt angle is reduced to0.09 *** synchronization is better in C-cunves that are closer to actual *** with the tilting angle control approach without the prediction,the proposed approach reduces the average lag time by 78.01%.The size of the network model used in the prototype is 3207 KB,so the network model can be embedded in a variety of *** show that the approach can effectively synchronize the tilt motion with the yaw motion of the *** also show the practicability of the proposed approach.
