2020 IEEE International Women in Engineering (WIE) Conference on Electrical and Computer Engineering (WIECON-ECE)

Vehicle Dynamics Modeling and Simulation with

2020 IEEE International Women in Engineering (WIE) Conference on Electrical and Computer Engineering (WIECON-ECE) | 978-1-6654-1917-8/20/$31.00 ©2020 IEEE | DOI: 10.1109/WIECON-ECE52138.2020.9397983

Control Using Single Track Model

Abdussalam Ali Ahmed Johnson Santhosh Ftema W. Aldbea
Mechanical Engineering Department Mechanical Engineering Department Physics department
Bani Waleed University Jimma University Sebha University
Bani Waleed, Libya Jimma, Ethiopia Sebha, Libya
abdussalam.a.ahmed@gmail.com johnsonsanthosh@gmail.com fte.aldbea@sebhau.edu.ly

Abstract— One of the most important points to consider when sideslip angle based on the previous assumptions and what
designing and developing vehicles is vehicle dynamics control this study requires.
systems. The most important models that are used in the study of
the vehicle control system is called the single-track model of the
vehicle. To give this study more importance, two control methods
were used, namely the Fuzzy PID method and the Linear quadratic
control. Two important parameters that give an indication of the
vehicle's performance are the yaw rate and the vehicle body
sideslip angle. The results of this study showed that the use of the
two control methods is effective in controlling the vehicle’s yaw
rate under different road conditions.
Keywords— Yaw rate, Fuzzy PID control, LQR, vehicle
dynamics, single-track model Fig. 1. Single track model (bicycle model).
I. INTRODUCTION Many vehicle models and control methods for yaw rate
Vehicle Dynamic Control (VDC) became popular in the control and handling have been proposed in vehicle dynamics
1990s. When the vehicle is steering or under the lateral force, and control studies, such as Fuzzy PID controller [5,9],
this is a new active safety control device that improves artificial neural network control [6,9]. Improving vehicle
manoeuvrability and stability by regulating and managing the efficiency and control by adding steering system compliance
longitudinal force of the wheel [1]. The yaw rate is an parameters and accuracy has increased to 12 percent and 8%
important variable that shows vehicle efficiency when for steady state and transient response, respectively [7],
maneuvering; it is the most important variable for the road Model predictive control (MPC) is useful for developing an
vehicle stability system to recognize [2]. When studying electrical vehicle path-tracking controller [8], as well as
vehicle dynamics and control, another important variable to vehicle yaw rate control using PID control technology [10].
consider is the vehicle body sideslip angle, where sideslip
control is used either for vehicle stabilization or only in II. TRACK MODEL
emergency situations, particularly if the tire-road friction The single-track model is a classic model that represents the
coefficient calculation is not accurate [3]. most basic model for accurately predicting the lateral
The single-track model is the most basic mathematical model dynamics of a road vehicle. It is useful in non-extreme
for explaining vehicle dynamics and is commonly used in conditions, such as when the longitudinal speed is constant
simulations [4]. Figure 1 depicts a basic track model, also and the sideslip angle is minimal. On the same axle, the two
known as a bicycle model in vehicle dynamics studies. This tires are clumped together, resulting in one front and one rear
model is flat and has three degrees of freedom. The vehicle's tire, as seen in figure 2. Table 1 contains descriptions of the
center of mass is said to be its projection onto the road symbols on the figure.
surface, and the vehicle body is symmetrical with itself. The The equations of motion based on the free-body diagram in
axles were removed and replaced with single wheels. The Figure 2 can be written using Newton's second law, and the
model assumes that the vehicle's left and right wheels model can be implemented using Matlab software and the
generate equal lateral forces and that the axle slip angle is the motion equations.
only factor that determines the vehicle's description. This
means that the vehicle description is identical to that of a
single-track vehicle. The model also assumes that the
longitudinal driving forces generated by the vehicle's left and
right wheels are identical. The lack of vehicle overturning is
a serious downside. This model will be used twice: once as a
linear vehicle model to design the desired values of yaw rate
and sideslip angle, and then as a nonlinear vehicle model Fig. 2. The single-track model's free body diagram.
(actual vehicle) to design the desired values of yaw rate and

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To complete this project, a single-track Simulink model using
Matlab should be implemented, as shown in Figure 3. This
model has six parts: Vehicle Dynamics, Steering Angle
Projection, Tire Model, Kinematics/Geometry, Trajectory
Calculations, and Simple Driver Model.
The steering angle of the front tire and the steering angle of
the rear tire are the input signals in figure 3. Since the rear
steering angle is assumed to be zero, there is only one input
signal: the front steering angle, which is represented by phase
steering and at lane change maneuvers as seen in figures 4
and 5.
TABLE 1. NOMENCLATURE USED

Fig. 5. The steering input of vehicle as a lane-change maneuver.

Figures 6 and 7 display two Matlab Simulink models, with

figure 6 representing the vehicle dynamics system in the
linear state (Linear track model or reference model), which is
used in the design of controllers, and figure 7 representing the
vehicle dynamics system in the non-linear state (actual
vehicle model).

Fig 6. The nonlinear single-track model in Simulink.

Fig .3 Vehicle Dynamic Structure Block Diagram.

Fig 7. Simulink model of the linear single-track model

III. TECHNIQUES AND STRATEGIES FOR CONTROL

A. LQR Vehicle stability control
In the context of several studies in the field of vehicle
dynamics, the LQR approach to vehicle control is commonly
used. It was used in a quarter-car model, a half-car model,
and a full-sized vehicle model. When using the success factor
matrix, the LQR method's strength is that it can be weighted
according to the engineers' expectations and ambitions, as
well as other constraints. When performance index factors are
taken into account with this approach type, an optimal result
Fig. 4. The steering input of vehicle as a step angle. can be achieved.

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To improve passenger comfort and improve road handling, includes the reference model, actual model of the vehicle, and
the LQR approach for vehicle dynamics has been suggested fuzzy PID controller.
and proposed.
When designing a LQR controller (also known as the gain
matrix), the best control vector is u (t), which reduces the
quadratic cost function. The quadratic cost function has the
following mathematical formula:

=∫ ( ( ) ( )+ ( ) ( )) (1)

Where,
The state vector and the power vector are x and u,
respectively.
The designer must choose the appropriate values for both Fig. 10. Structure of a fuzzy PID controller.
R and Q in order to find the appropriate gain matrix using
MATLAB software.
Figure 8 portrays the configuration of the state variable
feedback.

Fig. 11. A vehicle's fuzzy PID control scheme.

Fig. 8. The state variable feedback configuration.

As an example, a suitable linear full-state feedback control IV. SIMULATION RESULTS

law may be used. A simulation investigation is carried out in order to assess the
efficiency of the built control system. The efficiency and
u( ) = −Kx( ) (2) complex behaviors of the control system using
Matlab/Simulink and some control methods. We assume the
Where K denotes the LQR controller's state feedback gain vehicle travels at a constant speed of 70 km/hr and that the
matrix, which is defined as: road's friction coefficient is ignored.
One driving condition is performed, which is the step steering
= (3) input, which is set as a step signal with a value of five degrees
and set as a lane change maneuver in the case of the single-
To estimate the matrix P, the next Algebraic Riccati Equation track model.
(ARE) is used. Different control techniques, such as fuzzy PID control and
Linear Quadratic Regulator, were used in this work, as well
+ + + =0 (4) as modeling and simulations for vehicle stability (LQR).
Figures (13-15) display a comparison of vehicle yaw rate and
Figure 9 displays the Simulink model for the control system, vehicle sideslip angle in the absence of regulation and with
which includes the LQR controller. the above-mentioned control techniques.

Fig. 9. A vehicle's LQR control system.

B. Fuzzy PID Controller

The Fuzzy PID control is made up of three main parts:1:

fuzzification, 2: fuzzy rules and inference, 3: defuzzification.
The configuration of the vehicle control system, which
includes a fuzzy PID controller is shown in Figure 5. Fig 12. Vehicle yaw rate at step steering.
Figures 10 and 11 display the configuration of the controller
and the block diagram of the desired control scheme, which

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 V. CONCLUSION
Based on the simulation findings in this paper, it can be
concluded that both the fuzzy PID controller and the LQR
control solution boost vehicle handling and stability,
confirming the efficacy of the control systems. The results of
this study showed that both controllers produced positive
results, as the vehicle's yaw rate increased as a result of using
step steering or lane change maneuver steering, but
simulation results show that the proposed control system with
fuzzy PID controller can boost both the vehicle's yaw rate and
sideslip angle better than the linear quadratic regulator.

Fig 13. Vehicle yaw rate at lane change maneuver. REFERENCES

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