An Adaptive Observer for Sideslip Angle Estimation: Comparison With Experimental Results

2007 ◽  
Author(s):  
Federico Cheli ◽  
Stefano Melzi ◽  
Edoardo Sabbioni
Keyword(s):  
Vehicle Dynamics ◽  
Adaptive Observer ◽  
Single Track ◽  
Vehicle Model ◽  
Weighted Mean ◽  
Sideslip Angle ◽  
Kinematic Formula ◽  
Angle Estimation ◽  
Lateral Vehicle Dynamics ◽  
Transitory Phase

By observing the lateral vehicle dynamics and in particular the sideslip angle, the detection of critical driving situations is possible. Thus, an adaptive observer for sideslip angle estimation is proposed in this paper. According to the proposed methodology, the sideslip angle is estimated as a weighted mean of the results provided by a kinematic formula and the ones obtained using a state observer based on a linear single-track vehicle model; tires cornering stiffness are updated during the transitory phase of a maneuver in order to take into account nonlinearities and changing of adherence conditions between tires and road.

scholarly journals Identifying Vehicle Model Parameters Using Remote Mounted Motion Sensor

2021 ◽  
Author(s):  
Yoonjin Hwang
Keyword(s):  
Vehicle Dynamics ◽  
Model Parameters ◽  
Motion Sensor ◽  
Force Model ◽  
Single Track ◽  
Driver Assistance ◽  
Vehicle Model ◽  
Tire Force ◽  
Recent Developments ◽  
Potential Benefits

The recent developments on advanced driver assistance system(ADAS) have extended the capability of sensor systems from surrounding perception to motion estimation. The motion estima?tion provides tri-axial velocity and pose measurements, which open potential benefits for control and state estimation through sensor fusion with the vehicle dynamics model. In this paper we propose an identification method for the vehicle single track model parameters including the relative distance between the vehicle center of gravity and the motion sensor. A linearized tire force model and simplified single track vehicle model are constructed with the corresponding sensor kinematics model. We demonstrate the efficacy of iden?tification performance of the proposed method and confirm the feasibility of the usage of ADAS sensor in vehicle dynamics and vice versa

Active camber system for lateral stability improvement of urban vehicles

2019 ◽  
Vol 233 (14) ◽  
pp. 3824-3838 ◽  
Author(s):  
Mansour Ataei ◽  
Chen Tang ◽  
Amir Khajepour ◽  
Soo Jeon
Keyword(s):  
Vehicle Dynamics ◽  
Vehicle Stability ◽  
Lateral Stability ◽  
Tire Model ◽  
Vehicle Model ◽  
Sideslip Angle ◽  
Friction Forces ◽  
Additional Degree ◽  
Tire Force ◽  
Active Front Steering

A suspension system with the capability of cambering has an additional degree of freedom for changing camber angle to increase the maximum lateral tire force. This study investigates the effects of cambering on overall vehicle stability with emphasis on applications to urban vehicles. A full vehicle model with a reliable tire model including camber effects is employed to investigate the vehicle dynamics behavior under cambering. Besides, a linearized vehicle model is used to analytically study the effects of camber lateral forces on vehicle dynamics. Vehicle behavior for different configurations of camber angles in front and rear wheels is studied and compared. Then, an active camber system is suggested for improvement of vehicle lateral stability. Specifically, performances of active front camber, active rear camber, and their combination are investigated. The results show that a proper strategy for camber control can improve both yaw rate and sideslip angle, simultaneously. Finally, the active front camber system is compared with the well-known active front steering. It is shown that, utilizing more friction forces at the limits, active front camber is more effective in improving maneuverability and lateral stability than active front steering.

scholarly journals Identifying Vehicle Model Parameters Using Remote Mounted Motion Sensor

2021 ◽  
Author(s):  
Yoonjin Hwang
Keyword(s):  
Vehicle Dynamics ◽  
Model Parameters ◽  
Motion Sensor ◽  
Force Model ◽  
Single Track ◽  
Driver Assistance ◽  
Vehicle Model ◽  
Tire Force ◽  
Recent Developments ◽  
Potential Benefits

The recent developments on advanced driver assistance system(ADAS) have extended the capability of sensor systems from surrounding perception to motion estimation. The motion estima?tion provides tri-axial velocity and pose measurements, which open potential benefits for control and state estimation through sensor fusion with the vehicle dynamics model. In this paper we propose an identification method for the vehicle single track model parameters including the relative distance between the vehicle center of gravity and the motion sensor. A linearized tire force model and simplified single track vehicle model are constructed with the corresponding sensor kinematics model. We demonstrate the efficacy of iden?tification performance of the proposed method and confirm the feasibility of the usage of ADAS sensor in vehicle dynamics and vice versa

scholarly journals Disturbance Decoupling and Tracking Controller Design for Lateral Vehicle Dynamics

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 40706-40715
Author(s):  
Mohammad Reza Satouri ◽  
Abolhassan Razminia ◽  
Saleh Mobayen ◽  
Pawel Skruch
Keyword(s):  
Vehicle Dynamics ◽  
Controller Design ◽  
Disturbance Decoupling ◽  
Lateral Vehicle Dynamics ◽  
Tracking Controller

Construction of a Rational Tire Model for High Fidelity Vehicle Dynamics Simulation Under Extreme Driving and Environmental Conditions

2010 ◽  
Author(s):  
S. C¸ag˘lar Bas¸lamıs¸lı ◽  
Selim Solmaz
Keyword(s):  
Vehicle Dynamics ◽  
Dynamics Simulation ◽  
High Fidelity ◽  
Tire Model ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Prospective Design ◽  
Magic Formula ◽  
Rational Models ◽  
Simulation Results

In this paper, a control oriented rational tire model is developed and incorporated in a two-track vehicle dynamics model for the prospective design of vehicle dynamics controllers. The tire model proposed in this paper is an enhancement over previous rational models which have taken into account only the peaking and saturation behavior disregarding all other force generation characteristics. Simulation results have been conducted to compare the dynamics of a vehicle model equipped with a Magic Formula tire model, a rational tire model available in the literature and the present rational tire model. It has been observed that the proposed tire model results in vehicle responses that closely follow those obtained with the Magic Formula even for extreme driving scenarios conducted on roads with low adhesion coefficient.

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