Scaled testbed for vehicle control: The IRS

Sean N. Brennan, A. Alleyne

Research output: Contribution to conferencePaper

9 Scopus citations

Abstract

This paper presents a novel testbed for vehicle control experiments: The Illinois Roadway Simulator (IRS). This is a scaled roadway suitable for easily visualizing preliminary vehicle control studies. The concept of the IRS is given along with the details of its design and construction. A review of vehicle dynamics gives the standard Bicycle Model for linear operating conditions. The parameters of the model are then obtained for representative IRS vehicles. The resulting vehicle dynamics are then compared with dynamics of full-scale vehicles for dynamic similitude. The dynamic similitude comparison is the key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles. A series of experimental verifications are used to match the identified vehicle dynamics to the responses predicted by the standard vehicle model with some additional augmentations.

Original languageEnglish (US)
Pages327-332
Number of pages6
StatePublished - Dec 1 1999
EventProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA
Duration: Aug 22 1999Aug 27 1999

Other

OtherProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
CityKohala Coast, HI, USA
Period8/22/998/27/99

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Brennan, S. N., & Alleyne, A. (1999). Scaled testbed for vehicle control: The IRS. 327-332. Paper presented at Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD), Kohala Coast, HI, USA, .