Review On

Steering Using Ackerman Geometry For A Hybrid Vehicle

Biswajit swain
712me4096
National institute of technology, Rourkela
1. ABSTRACT

This paper presents automatic parking of a smart hybrid car that depend on the
vision to estimate free parking slots. In the production machinery research and development, the
design of steering trapezium (Ackerman) mechanism is essential. This article discovers a method
that would realize fast to obtain the optimized design and the result of steering trapezium for given
wheelbase, track width and other design parameters. Considering that the vehicle is influenced by
different errors like: side slip, brake or slider of vehicle is always destroyed, and then analyzing
this instance and setting kinematics model of vehicle. Math formulas about turning angle, and
turning radius are given to calculate the movement status of vehicle. Finally, the conclusion was
confirmed through the simulation experiment. In the manufacture machinery research and
development design, the design of steering trapezium (Ackerman) mechanism is essential. This
article is needed to discover one method that realize fast to obtain the optimized design and the
result output of steering trapezium for given wheelbase, track width and vehicle tread and other
design parameters. Genetic algorithm is a global search method which is based on the metaphors
of biological evolution. Through the operators of random selection, crossover and mutation,
individuals which more appropriate for the environment are produced, it will obtain the optimal
solution for the question.

2. INTRODUCTION

The function of the steering system is clearly to provide the driver a better control of the vehicle,
and to provide this control with sufficient accuracy to select the best course around corners, to
avoid other vehicles and to improve the car efficiently at low speed. According to Simionescu PA
the kinematic requirement of the steering linkage is to provide the steerable wheels a correlated
pivot so that their axes intersect at a point on the rear wheel axis [4]. The Ackermann geometry
allows the outer front wheel to cover a larger radius than the inside wheel. As a result both the
wheels will follow individual radii. In order to decrease the side-slipping of the tire and increase
service life, the steering trapezium optimized design is extremely important in the vehicles
research and development. According to Wangyu WANG, to reduce the front wheel wear and
power loss, the steering linkage should be design to ensure that the steering angle of inner and
outer wheel to meet the requirement of Ackerman steering when the vehicle steering [5]. Ignore
the centrifugal force and the impact of tire cornering, when the two-axle vehicle turning with low-
speed, the wheels turn around with the same instantaneous center. Steering system design primary
mission is to guarantee that all wheels to circle the identical instantaneous center of turn during
 the time spent in the process of the vehicles steering. In project machinery which require special
work atmosphere and high performance, must simultaneously satisfy the front wheel guiding, the
four wheel controlling. Likewise harmoniously improves to the steering trapezium organization
design request. Frequent efforts by various automobile researchers and manufacturers are made in
this area. This systems involve imaging and complex processing [1]. The parking tactic is
consummate by the control of the steering angle and the innovative environment conditions for
collision-free motion with in the space. According to Simionescu PA [4] the input applied by the
driver at the steering wheel is transmitted by the steering column and the steering control linkage
to one of the steering knuckles (Figure 1)

Figure 1 Ackermann Steering Linkage Controlled Via A Drag-Link Spatial Four-Bar Mechanism Used In Wheeled Tractors
And The Like: (1)Steering Wheel; (2) Steering Box; (3) Pitman Arm; (4) Drag Link; (5) Steering Arm; (6) Steering-Knuckle
Arms; (7) Track Rod; (8) Axle Beam; (9)Steered Wheels

Bing ZHOU used a method which combines genetic algorithm with ADAMS software used to
optimize the steering linkage. The main part is training of the fitness function, and the genetic
algorithm is not modified [6]. When the fitness function is calculated, the model language files
(ADM), simulation control files (ACF) and the simulation results files (REQ) need to be called by
MATLAB. The ADM files can be exported from the ADAMS model which is established in
section 2. The REQ files contain the change of toe-in angle and the steering error.
 3. ACTUAL CORNER RELATIONS ESTABLISHMENT OF STEERING TRAPEZIUM
MECHANISM
The king pin inclination is the angle that forms the line passing through the king pin axis and the
perpendicular to the ground, looking at the vehicle from front. Suppose in the front axle, the king
pin inclination angle is zero, the king pin caster angle is zero, the wheel camber angle is zero.
Therefore, the steering trapezium mechanism is completely a plane mechanism movement,
therefore establishes the diagram of the trapezoidal mechanism by Figure 2,

Figure 2 The Model Of Steering Trapezium [2] Figure 3 The Vertical Of View Steering Trapezium
Organization Installment Position [3]

Let AB = a = frontal chassis frame width

CD = c= both tie rod length
AC=BD= r = steering arm = AE = BF
ABCD is the initial position and ABEF is the final position.

= 2 + 2 2( )
2 +2 2
ABE = arccos ( )
2

EF =a 2cos (BAE)
= a 2cos ()
=CAE=BAC BAE
=
Steering design based on the Ackerman principle

The adjacent figure represent Ackerman geometry

where
a= front track width=1102.26mm,
b= wheel base length=1117.6mm,
c = frontal chassis frame width=865.96mm,
AD=BA=r, Figure 4 Ackerman Geometry
OA is outer turning radius,
OB is inner turning radius.
Inner wheel lock angle () = 40
According to pitman steering condition,
Cot - cot = => Cot cot 40 = 865.961117.6
Cot = 0.77438 + 1.1917 = 1.96659
= 26. 95
Outer wheel lock angle () = 26.95
Inner turning radius= OB = - 2
OB = (1117.6 / sin (40)) ((102.26 865.96) / 2)
OB = 1620.53 mm = 1.62 m
Outer turning radius = OA = + 2
OA = (1117.6 / sin (26.95)) ((102.26 865.96) / 2)
OA = 2584.09 mm

Figure 5: - steering design based on calculation

4. PATH PLANNING AND KINEMATICS FOR AUTONOMOUS PARALLEL PARKING

SYSTEM
Path planning comprises of simple geometrical equations. In figure 5 the path that the vehicle
travels before steering has three different segments to be considered. One is the straight line and
the other two are the arcs of circles. During the whole parking task the wheel has to align its angle
twice, at point p and point o. [1]This not only bypasses the possible errors which might rise
from frequent steering action but also consumes less power. Hence it is more energy efficient and
simple. The trajectory for parking does not demands the vehicles to be parallel but as a substitute
it perfectly works fine if the vehicles have some angle of misalignment between them. It has some
boundary conditions and is very robust. The parking trajectory is calculated from the knowledge
of the distance between the parking vehicle and the vehicle already parked which is obtained from
the distance sensors [1].
 Figure 6: - Path Planning And Parking [1]
[1] Trajectory [1]
5. APPLICATION OF GENETIC ALGORITHM OPTIMIZATION
Genetic algorithm is a global search method which is based on the metaphors of biological
evolution. Through the operators of random selection, crossover and mutation, individuals which
more appropriate for the environment are produced, it will obtain the optimal solution for the
question. The genetic algorithm in MATLAB is used as the main program, individual variables
under the constraints, is generated by genetic algorithms and then is written into the ADM file, the
model of the steering linkage will be modified accordingly [6].

Figure 7 Optimization Process [6]

The ACF file is called to simulate, and Results will be required to store in the REQ file, MATLAB
optimization procedure will then read the relevant target, and calculate the value of individual
fitness, return it to the genetic algorithm to determine whether it is the optimal solution, if not, a
new individual is generated to calculate until the result is obtained. Figure 7 shows the detail
process.

6. Conclusions
A review of the most common mechanism synthesis have been carried out. For the simple case of
the planar Ackermann steering, the properties of these objective functions have been investigated
through 3D representations and numerical experiments. A low cost and reliable autonomous
parallel parking method is proposed. The path planning derives the vehicles trajectory for a
perfectly aligned predictable parking position, regardless of the direction and position of the
vehicle within its boundary conditions. Normal calculation and limited sensing devices attributes
to its easiness in processing, low cost and agile performance. The wheel pressure can be sensed
and calibrated to the diameter of the wheel to increase accuracy of the path tracking. The path
tracking can be furthered improved with embedding GPS into the system that will look after the
errors due to slip and skid of the wheel. The GPS will also provide a new definition to the
calculations of few parameters like and its relatives, which will be much easier and accurate.
Software ADAMS combined with genetic algorithm is used as an analysis platform, the
optimization of steering linkage is completed and satisfying optimization results is obtained. The
optimization method in this paper [6] provides important references for the design of other similar
complex systems.

7. References

[1] Jin Xu, Guang Chen and Ming Xie; Vision- Guided Automatic Parking for Smart Car,
Intelligent Vehicles Symposium, 2000. IV 2000, pp. 735 730, Oct 2000.

[2] Bing ZHOU, Fan YANG. Optimization Design of Steering Linkage Based on ADAMS,
Journal of Hunan University (Natural Sciences), 2008, 35(12):23-26

[3] HOU Zhongming;YAO Kai;WANG Shengjun;XIN Tao;GAO Yong 2009 Second

International conference on Intelligent Computation Technology and Automaion

[4] Simionescu PA, Beale D and Talpasanu I. Dynamic effect of the bump steer in a wheeled
tractor. Mech Mach Theory 2007; 42(10): 13521361.

[5] Wangyu WANG. Vehicle design, Tsinghua University Press, Beijing, 2002

[6] Bing ZHOU, Dongsheng LI, Fan YANG State Key Laboratory of Advanced Design and
Manufacture for Vehicle Body 978-1-4244-5268-2/09/$25.00 2009 IEEE