Vehicle dynamics and external disturbance estimation for vehicle path prediction

This paper introduces a new disturbance estimation scheme, and a possible application to relative output stabilization of multiple systems. Using the proposed disturbance estimation scheme, total unknown external disturbance applied to a plant is estimated and compensated. Moreover, the model difference between an actual system and a desired system is also estimated and compensated. For the purpose of general use of the disturbance estimation scheme as an unknown input observer (UIO), a parameterized design method is given, even for the unstable and nonminimum phase systems. For the relative output stabilization of multiple systems, second-order consensus algorithm is additionally used. A case study, simulations, and experimental tests sequentially validate the proposed estimation and control methods.

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Numerical Integration for Future Vehicle Path Prediction

2007 American Control Conference ◽

10.1109/acc.2007.4282346 ◽

2007 ◽

Cited By ~ 3

Author(s):

Derek Caveney

Keyword(s):

Numerical Integration ◽

Path Prediction ◽

Vehicle Path

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Vehicle Path Prediction Using Yaw Acceleration for Adaptive Cruise Control

IEEE Transactions on Intelligent Transportation Systems ◽

10.1109/tits.2018.2789482 ◽

2018 ◽

Vol 19 (12) ◽

pp. 3818-3829 ◽

Cited By ~ 4

Author(s):

Wonhee Kim ◽

Chang Mook Kang ◽

Young Seop Son ◽

Seung-Hi Lee ◽

Chung Choo Chung

Keyword(s):

Adaptive Cruise Control ◽

Cruise Control ◽

Path Prediction ◽

Vehicle Path

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Influence of Tire Inflation Pressure on Vehicle Dynamics and Handling Performance

Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control ◽

10.1115/dscc2019-9055 ◽

2019 ◽

Author(s):

Jianyang Wu ◽

Zhenpo Wang ◽

Junmin Wang

Keyword(s):

Vehicle Dynamics ◽

Stability Index ◽

Lane Change ◽

Pressure Reduction ◽

Inflation Pressure ◽

Tire Pressure ◽

Sideslip Angle ◽

Handling Performance ◽

Vehicle Path ◽

Rear Tire

Abstract Tire inflation pressure affects both tire longitudinal and lateral stiffness and thus may impose a considerable influence on vehicle dynamics and handling performance. This paper presents a comprehensive study revealing the effects of tire pressure variations and their distribution among four tires on vehicle dynamics and handling performance. An extended Magic Formula tire model and a modified UniTire model involving tire inflation pressure are employed to describe the tire longitudinal and lateral forces, respectively. Two groups of vehicle maneuvers are simulated in CarSim: a single lane change maneuver with braking and a double lane change maneuver, to exhibit the effects of tire inflation pressure. Various tire pressure variations including all four tires at same and different pressures are examined. A vehicle dynamics, lateral motion stability index, and driver steering workload are utilized to quantify the influence of tire pressure variations and distributions. Analyses on the simulation results indicate that: 1) a front tire pressure reduction induces vehicle understeering tendency and a larger steering angle; 2) a rear tire pressure reduction causes oversteering characteristics and a sacrifice on vehicle stability with a larger vehicle sideslip angle; 3) all-tire inflation pressure decrease will increase driver’s steering workload; and 4) lower rear-tire inflation pressure can promote the combined performance of vehicle path-tracking and driver’s steering workload.

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