Abstract
Recently many new types of small vehicles for future urban societies have been proposed and developed. Such small vehicles tends to have reduced stability and handling ability than conventional vehicles because of their lighter weight and reduced tire performance. To cope with this problem by active collaboration of Japanese academia and industries, a benchmark problem of designing vehicle control logic for an articulated In-Wheel-Motor vehicle was settled by Japanese society of automotive industries and academia. For this purpose, simulation models of the new vehicle using multi-physics acausal modeling language Modelica were provided from the industry side. Challengers were requested to design controllers of tire steering angle, tire camber angle and tire driving force to satisfy requested vehicle dynamic characteristics. There also were some restrictions about the range of actuators. Four test scenarios were given to evaluate the control performance. Many challengers from Japanese Universities have tackled with this benchmark problem. Some results of their researches are also introduced in this paper.
Similar content being viewed by others
References
E. Katsuyama. Decoupled 3D moment control by an inwheel motor vehicle. Proceeding of Chassis Tech Plus, ATZlive, Wiesbaden, 2011: 133–150.
Y. Hirano. Application of modelica to development of future newconcept vehicles. IFAC Proceedings Volumes, 2013, 46(21): 428–433.
Y. Hirano. Development of new concept vehicles using modelica and expectation to modelica from automotive industries. Proceedings of the 9th International Modelica Conference, Munich: Linkoping University Electronic Press, 2012: 579–588.
Y. Hirano. Integrated vehicle control of an in-wheel-motor vehicle to optimize vehicle dynamics and energy consumption. Proceedings of the 10th World Congress on Intelligent Control and Automation, Beijing: IEEE, 2012: 2335–2339.
J. Andreasson. On Generic Road Vehicle Motion Modeling and Control. Ph.D. thesis. Stockholm, Sweden: KTH Royal Institute of Technology, 2006.
H. B. Pacejka. Tyre and Vehicle Dynamics. Boston: Butterworth- Heinemann, 2002.
S. Yun, H. Nishimura. Integrated vehicle dynamics control of rear steering angle and driving/braking torque to improve vehicle handling and stability of a small four in-wheel-motors vehicle. Proceeding of the 54th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Hangzhou: IEEE, 2015: 1367–1368.
T. Oda, K. Nonaka, K. Sekiguchi. Robust path tracking control using model predictive control and sliding mode control–application to the JSAE-SICE benchmark problem. International Journal of Automotive Engineering, 2017, 8(3): 120–129.
M. Yamaguchi, T. Asai, Y. Hayakawa, et al. Force distribution optimization of electric vehicles with redundant degree of freedom. Proceeding of the SICE Annual Conference, Tsukuba, SICE, 2016.
T. Asai, M. Yamaguchi, Y. Hayakawa, et al. Actuator distribution optimization of electric vehicles with redundant degree of freedom based on approximate inverse transform of multivariable functions–calculation of lagrange inversion based on matrix operations. Transactions of the Society of Instrument and Control Engineers, 2018, 54(2): 209–218.
Y. Owaki, T. Yuno, T. Kawabe. Nonlinear model predictive control for path following of simple small electric vehicle using C/GMRES. IFAC-PapersOnLine, 2018, 51(20): 253–258.
Author information
Authors and Affiliations
Corresponding author
Additional information
Yutaka HIRANO was responsible about research and development in Toyota Motor Corporation. He was involved in chassis design, vehicle dynamics control, HEV control, model based development, robotics, artificial intelligence, machine learning and human characteristics research. He is now responsible about design of a future social system considering CASE movement of the automotive industry.
Rights and permissions
About this article
Cite this article
Hirano, Y. JSAE-SICE benchmark problem for vehicle dynamics control. Control Theory Technol. 17, 131–137 (2019). https://doi.org/10.1007/s11768-019-8246-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11768-019-8246-y