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Science China(Technological Sciences) 2015年第1期58卷 75-85页

作者： WU Jian zhao youqun JI XueWu LIU YaHui YIN ChengQiang Department of Automotive Engineering College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical and Automotive Engineering Liaocheng University State Key Laboratory of Automotive Safety and Energy Tsinghua University

Taking into account the nonlinearity of vehicle dynamics and the variations of vehicle parameters,the integrated control strategy for active front steering(AFS)and direct yaw control(DYC)that can maintain the performance and robustness is a key issue to be ***,the H∞method is widely applied to the integrated control of chassis dynamics,but it always sacrifices the performance in order to enhance the *** modified structure internal model robust control(MSIMC)obtained by modifying internal model control(IMC)structure is proposed for the integrated control of AFS and DYC to surmount the conflict between performance and *** lane change(DLC)simulation is developed to compare the performance and the stability of the MSIMC strategy,the PID controller based on the reference vehicle model and the H∞*** results show that the PID controller may oscillate and go into instability in severe driving conditions because of large variations of tire parameters,the H∞controller sacrifices the performance in order to enhance the stability,and only the MSIMC controller can both ensure the robustness and the high performance of the integrated control of AFS and DYC.

关键词： modified structure internal model control robust control chassis integrated control double lane change

Deep Reinforcement Learning Based Decision‑Making Strategy of Autonomous Vehicle in Highway Uncertain Driving Environments

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Automotive Innovation 2023年第3期6卷 438-452页

作者： Huifan Deng youqun zhao Qiuwei Wang Anh‑Tu Nguyen Department of Vehicle Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China Laboratory LAMIH‑CNRS UMR 8201Universite Polytechnique Hauts-de-France59300 ValenciennesHauts‑de‑FranceFrance INSA Hauts-de-France 59300 ValenciennesFrance

Uncertain environment on multi-lane highway,e.g.,the stochastic lane-change maneuver of surrounding vehicles,is a big challenge for achieving safe automated highway *** improve the driving safety,a heuristic reinforcement learning decision-making framework with integrated risk assessment is ***,the framework includes a long short-term memory model to predict the trajectory of surrounding vehicles and a future integrated risk assessment model to estimate the possible driving ***,a heuristic decaying state entropy deep reinforcement learning algorithm is introduced to address the exploration and exploitation dilemma of reinforcement ***,the framework also includes a rule-based vehicle decision model for interaction decision problems with surrounding *** proposed framework is validated in both low-density and high-density traffic *** results show that the traffic efficiency and vehicle safety are both improved compared to the common dueling double deep Q-Network method and rule-based method.

关键词： Automated driving Decision making Uncertain driving environments Reinforcement learning Multi-lane traffic Integrated risk assessment

Generalized Internal Model Robust Control for Active Front Steering Intervention

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 285-293页

作者： WU Jian zhao youqun JI Xuewu LIU Yahui ZHANG Lipeng College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical and Automotive Engineering Liaocheng University State Key Laboratory of Automotive Safety and Energy Tsinghua University

Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS *** this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS *** GIMC,the Youla parameterization is used in an improved *** GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external *** of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞*** results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS ***,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.

关键词： active front steering system generalized internal model robust control H_∞ optimization PID split-μ road

Static Radical Stiffness and Contact Behavior of Nonpneumatic Mechanical Elastic Wheel

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第4期36卷 663-674页

作者： ZANG Liguo zhao youqun SUN Haiyan LIN Fen School of Automotive and Rail Transit Nanjing Institute of TechnologyNanjing 211167P.R.China College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016P.R.China

Conventional pneumatic tires exhibit disadvantages such as puncture,blowout at high speed,pressure maintenance,*** to these structural inevitable weaknesses,non?pneumatic tires have been developed and are investigated.A non?pneumatic mechanical elastic wheel(NPMEW)is introduced and investigated as a function of static radical stiffness characteristics and contact behavior.A bench test method is utilized to improve the riding comfort and the traction traffic ability of NPMEW based on tire characteristics test rig,and the static radical stiffness characteristics and the contact behavior of NPMEW are compared with that of an insert supporting run?flat tire(ISRFT).The vertical force?deformation curves and deformed shapes and contact areas of the NPMEW and ISRFT are obtained using a set of vertical *** contact behavior is evaluated using extracted geometrical and mechanical feature parameters of the two *** results indicate that the NPMEW appears to exhibit considerably high radical stiffness,and the numerical value is dependent on the mechanical characteristic of the flexible tire body and hinge *** demonstrates more uniform contact pressure than ISRFT within a certain loading range,and it can efficiently mitigate the problem of stress concentration in ISRFT shoulder under heavy load and enhance the wear resistance and ground grip performances.

关键词： vehicles non⁃pneumatic mechanical elastic wheel run⁃flat tire radical stiffness contact behavior

Numerical Prediction of Ride Comfort of Tracked Vehicle Equipped with Novel Flexible Road Wheels

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 277-289页

作者： Yaoji Deng Zhiyue Wang youqun zhao Junjie Gong Hui Shen Fen Lin College of Mechanical Engineering Yangzhou UniversityYangzhou 225127China College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Enhancing ride comfort has always constituted a crucial focus in the design and research of modern tracked vehicles,heavily reliant on the driving system's *** the road wheel is a key component of the driving system,traditional road wheels predominantly adopt a solid structure,exhibiting subpar adhesion performance and damping effects,thereby falling short of meeting the demands for high-speed,stable,and long-distance driving in tracked *** this issue,this paper proposes a novel type of flexible road wheel(FRW)characterized by a catenary *** study investigates the ride comfort of tracked vehicles equipped with flexible road wheels by integrating finite element and vehicle ***,three-dimensional(3D)finite element(FE)models of both flexible and rigid road wheels are established,considering material and contact *** models are validated through a wheel radial loading *** on the validated FE model,the paper uncovers the relationship between load and radial deformation of the road wheel,forming the basis for a nonlinear mathematical ***,a half-car model of a tracked vehicle with seven degrees of freedom is established using Newton's second law.A random road model,considering the track effect and employing white noise,is *** study concludes by examining the ride comfort of tracked vehicles equipped with flexible and rigid road wheels under various speeds and road *** results demonstrate that,in comparison to the rigid road wheel(RRW),the flexible road wheel enhances the ride comfort of tracked vehicles on randomly uneven *** research provides a theoretical foundation for the implementation of flexible road wheels in tracked vehicles.

关键词： Ride comfort Flexible road wheel Finite element model Dynamic model Tracked vehicle

Steady-State Cornering Properties of a Non-pneumatic Tire with Mechanical Elastic Structure

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第5期34卷 586-592页

作者： Fu Hongxun zhao youqun Lin Fen Du Xianbin Zhu Mingmin College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China

Mechanical elastic wheel(ME-wheel)is a new type of non-inflatable safety tyre,and the structure is significantly different from traditional pneumatic *** order to investigate cornering properties of ME-wheel,experimental research on mechanics characteristics of ME-wheel under steady-state cornering conditions are carried *** test of steady-state cornering properties of ME-wheel at different experimental parameter conditions is conducted by test bench for dynamic mechanical properties of *** property curves are used to analyze the steady-state cornering properties of ME-wheel,namely the variation tendency of lateral force or aligning torque with the increase of side-slip ***,evaluation indexes for cornering properties of ME-wheel are extracted and the effect of different experimental parameters(including vertical load,friction coefficient,and speed)on cornering properties of ME-wheel is contrastively *** proposed research can provide certain reference to facilitate structure parameters and cornering properties optimizing process of ME-wheel.

关键词： tyres non-pneumatic tyre mechanical elastic structure steady-state cornering properties

Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control

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Chinese Journal of Mechanical Engineering 2019年第1期32卷 212-227页

作者： Fen Lin Yaowen Zhang youqun zhao Guodong Yin Huiqi Zhang Kaizheng Wang College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical Engineering Southeast University

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.

关键词： Autonomous vehicle Trajectory tracking Direct yaw moment control(DYC) Model predictive control (MPC) Longitudinal–lateral control

Vehicle Active Steering Control Research Based on Two-DOF Robust Internal Model Control

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Chinese Journal of Mechanical Engineering 2016年第4期29卷 739-746页

作者： WU Jian LIU Yahui WANG Fengbo BAO Chunjiang SUN Qun zhao youqun School of Mechanical and Automotive Engineering Liaocheng University State Key Laboratory of Automotive Safety and Energy Tsinghua University College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics

Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability *** robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain *** proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model *** order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla *** of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre *** show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind *** between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

关键词： active steering internal model control model tracking robust performance crosswind disturbances

Driving Force Model for Non-pneumatic Elastic Wheel

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Transactions of Nanjing University of Aeronautics and Astronautics 2016年第2期33卷 231-236页

作者： Li Bo zhao youqun Zang Liguo Bei Shaoyi Fu Hongxun Zhang Lanchun College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R. China School of Automotive and Traffic Engineering Jiangsu University of Technology Changzhou 213001 P.R. China

In order to obtain good driving performance,a driving force model is presented for non-pneumatic elastic *** model of pneumatic tyres is introduced and the deformations of elastic supports and tread are also taken into *** longitudinal slip rate is *** grounding pressure distribution of elastic wheels is analyzed and corrected according to speed,temperature and *** rolling resistance equation is ***,simulation is conducted by software CarSim,and the results show that the estimated values are consistent with simulation values,especially at low longitudinal slip *** research can help to optimize design of non-pneumatic elastic wheel.

关键词： driving force non-pneumatic elastic wheel brush model rolling resistance

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一种非充气机械弹性安全车轮的研究进展

机械工程学报 2019年第24期55卷 105-116页

作者：赵又群南京航空航天大学能源与动力学院

轮胎是汽车与路面之间接触并产生相互作用的唯一媒介,直接影响着汽车的操纵稳定性、行驶安全性及乘坐舒适性等。然而,传统充气轮胎往往存在爆鼓、爆胎、泄气以及胎压不稳等安全隐患,严重影响汽车行使的安全性。为此,提出安全车轮基本概... 详细信息

轮胎是汽车与路面之间接触并产生相互作用的唯一媒介,直接影响着汽车的操纵稳定性、行驶安全性及乘坐舒适性等。然而,传统充气轮胎往往存在爆鼓、爆胎、泄气以及胎压不稳等安全隐患,严重影响汽车行使的安全性。为此,提出安全车轮基本概念,概述安全车轮的发展现状,阐述机械弹性安全车轮的结构和原理;介绍机械弹性安全车轮的数值计算模型、简化解析模型,以及相应的机械弹性安全车轮的垂向力、纵向力、侧向力、侧偏特性、侧倾特性、动态特性、响应特性、牵引特性、包容特性等的计算,和台架或者装车试验验证;研究结果揭示了机械弹性安全车轮的基本特性,为机械弹性安全车轮的研发与推广应用奠定一定的理论基础,期望促进非充气安全车轮的发展。

关键词：主动安全安全车轮轮胎力学机械弹性安全车轮研究进展