{"created":"2023-06-19T12:45:00.158744+00:00","id":4628,"links":{},"metadata":{"_buckets":{"deposit":"1a0d97bf-a222-48b8-84f2-dcbbf346d500"},"_deposit":{"created_by":3,"id":"4628","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"4628"},"status":"published"},"_oai":{"id":"oai:tokyo-metro-u.repo.nii.ac.jp:00004628","sets":["1647:623:625:1189:1192"]},"author_link":["15503","15504"],"control_number":"4628","item_2_alternative_title_19":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"モデル予測制御による車両安定化と横転防止"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2015-09-30","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"141","bibliographicPageStart":"1"}]},"item_2_creator_2":{"attribute_name":"著者(ヨミ)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"ヤクブ, フィトリ"}],"nameIdentifiers":[{"nameIdentifier":"15504","nameIdentifierScheme":"WEKO"}]}]},"item_2_date_granted_66":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2015-09-30"}]},"item_2_degree_grantor_64":{"attribute_name":"学位授与機関","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_name":"首都大学東京"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"22604","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_2_degree_name_63":{"attribute_name":"学位名","attribute_value_mlt":[{"subitem_degreename":"博士（工学）"}]},"item_2_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Let start with a scenario where we are sitting behind the wheel of car, staring at mobile phone, reading a new e-mails message, texting a friend or others activities instead of looking at the road or the car in front. Suddenly, the driver in the car ahead slams on the brakes or we might crash with some avoidance. Rather than becoming a victim of distracted driving, we might feel a gentle deceleration as ours car comes to a stop on its own, easily avoiding a collision, the car starts itself up again as soon as the road is clear. While this is not a realistic portrayal yet, but this future is coming and some of the technology that will make it possible is already present in today‘s cars. The more advanced models and control technologies can warn of obstacles, adjust the distance to a car ahead, and activate the brakes when a distracted driver does not. However, while technology will ultimately protect us from accidents on the road, sometimes it does the opposite. That is because so many people make phone calls, text, manipulate global positioning system units, and fiddle with infotainment systems when they should be concentrating on their driving. Even the most diligent drivers can choose the wrong moment to glance at a navigation screen or distracted by a minor things during the journey. According to the national highway traffic safety administration, driver distraction contributed to almost 20 percent of crashes which injuries to vehicle passenger. As safety continues to take an increasingly important place in the automobile industry, there has been significant research and development in the area of closed loop control of vehicle dynamics. Avoidance control strategy first started with anti-lock braking system (ABS) that prevented loss of steering control due to wheels locking up with hard braking or low friction. Vehicle dynamics control further developed to include traction control: a system that optimally distributes tractive forces and prevents excessive wheel slip. The most recent developments have been in the area of electronic stability control (ESC). As vehicle technology has evolved over the years, ABS and ESC are now becoming standard on most vehicles, not only automobile manufacturers but even governments and regulation bodies have programs dedicated to ensure standards and understand limitations of these systems. For every driver, active-safety systems and automated-driving technologies will provide not only assistance and support but also the valuable gift of time to reach for something in the glove compartment, to turn around and fix a child‘s jacket. As a result, efforts have been made to develop intelligent control strategies and enhancing vehicle control dynamics with test maneuvers to quantify dynamic properties. The first stage of this thesis is focuses on studying standard with emergency maneuvers and developing new strategies to control, evaluate, and rate the performance of modern vehicles equipped with advanced vehicle dynamic control systems. Recent studies have focused on the lateral and yaw dynamics models, neglecting the roll dynamic model. By including the roll dynamics in the system, we can evaluate the effectiveness of controllers, especially under high-speed conditions. For this study, we limit the path-following control of an unmanned ground vehicle and emphasizes that we assume a known trajectory for the lateral position and yaw angle. During evasive maneuvers the tire forces are no longer a linear function of slip angles and the vehicle response is nonlinear and potentially unstable, a condition which the active stability systems are designed to mitigate. Thus, we have proposed model predictive control (MPC) with a feedforward (FF) or proportional integral (PI) controllers to minimize tracking errors in the lateral position and yaw angle. To evaluate the effectiveness of the proposed control method, we compare it with linear quadratic control with a FF/PI controller. The method can be used to benchmark a vehicle regardless of passive or active control. We utilize ABS which focuses on direct yaw control (DYC) which produces the corrective yaw moment by using the rear braking forces between the left and the right side of the rear tire vehicle in order to avoid the interferences between active front steering and DYC. On the other hand, heavy vehicle stability safety systems are currently available from a number of manufacturers of heavy road transport equipment. Advisory systems to warn the driver of impending rollover were developed over a decade ago and have been superseded by technology development. Stability safety technology is claimed to be highly effective in potentially dangerous situations like overestimating curve speed limit (e.g. narrowing curves, highway exits); obstacle avoidance maneuvers with sudden steering input (e.g. steering from the shoulder back onto the road and skidding); and laden semi-trailer in narrow curves on slippery surface (jackknifing on turns). However, when making an emergency or abrupt lane change, especially in the strong wind condition, drivers have not enough time to make the compensation for adjusting the handle and it will be initiate a vehicle to spin, instability, and rollover. Therefore, it is required and urgently to establish a rapid and safety with secure control techniques systems to discover and prevent the yaw motion instability, in doing so will enhance vehicle stability. Therefore, the second stage of this thesis is to take the advantages of the MPC control method that can be used effectively for the constraint and multivariable systems particularly focuses on the directional yaw stability control and rollover prevention of heavy vehicles under the inclement scenario on emergency threat avoidance maneuver. Generally, this thesis contains of two main parts which are: The first study is conducted in order to improve the ground vehicle performance of the autonomous sport utility vehicles with emphasis on path-following control and yaw stability control through proposed integrated control maneuver. The second study of this thesis is improvement of the ground heavy vehicle performance of the single lorry with emphasis on rollover prevention, yaw stability control, and fast safe lane change trajectory control through proposed integrated control maneuver. The enhancement of the MPC control is design through switching technique in order to stabilize the vehicle while preventing the rollover in the emergency threat avoidance scenario.","subitem_description_type":"Abstract"}]},"item_2_description_5":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"首都大学東京, 2015-09-30, 博士（工学）","subitem_description_type":"Other"}]},"item_2_dissertation_number_67":{"attribute_name":"学位授与番号","attribute_value_mlt":[{"subitem_dissertationnumber":"甲第607号"}]},"item_2_version_type_16":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Yakub, Fitri"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-08-05"}],"displaytype":"detail","filename":"Fitri_Yakub_comments.pdf","filesize":[{"value":"167.5 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"Fitri_Yakub_comments.pdf","url":"https://tokyo-metro-u.repo.nii.ac.jp/record/4628/files/Fitri_Yakub_comments.pdf"},"version_id":"bfc5c65e-dbc9-47f5-942d-c361f2eacdbd"},{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-08-05"}],"displaytype":"detail","filename":"Fitri_Yakub_abstract.pdf","filesize":[{"value":"101.2 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"Fitri_Yakub_abstract.pdf","url":"https://tokyo-metro-u.repo.nii.ac.jp/record/4628/files/Fitri_Yakub_abstract.pdf"},"version_id":"244aaeba-724f-4bfe-bb41-6fbd171ce3bf"},{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-02-06"}],"displaytype":"detail","filename":"Fitri _Yakub_fulltext.pdf","filesize":[{"value":"3.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"Fitri _Yakub_fulltext","objectType":"fulltext","url":"https://tokyo-metro-u.repo.nii.ac.jp/record/4628/files/Fitri _Yakub_fulltext.pdf"},"version_id":"15351ba6-033b-4780-94eb-a2e9efcd6065"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"doctoral thesis","resourceuri":"http://purl.org/coar/resource_type/c_db06"}]},"item_title":"Enhancing Vehicle Stability and Rollover Prevention through Model Predictive Control","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Enhancing Vehicle Stability and Rollover Prevention through Model Predictive Control","subitem_title_language":"en"}]},"item_type_id":"2","owner":"3","path":["1192"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2016-07-04"},"publish_date":"2016-07-04","publish_status":"0","recid":"4628","relation_version_is_last":true,"title":["Enhancing Vehicle Stability and Rollover Prevention through Model Predictive Control"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-08-15T02:13:42.933627+00:00"}