Road Adhesion Coefficient Estimation Based on the Steering Wheel Rebound After Steering

2018 ◽  
Author(s):  
Liangyao Yu ◽  
Sheng Zheng ◽  
Xiaohui Liu ◽  
Jinghu Chang ◽  
Fei Li
Keyword(s):  
Stability Control ◽  
Front Wheel ◽  
Intelligent Vehicles ◽  
Steering Wheel ◽  
Adhesion Coefficient ◽  
The Road ◽  
Whole Process ◽  
Friction Moment ◽  
Stability Control System ◽  
The Coefficient Of Friction

Accurately estimating road adhesion coefficient is very important for vehicle stability control system. In this paper, an innovation method to estimate the road adhesion coefficient is proposed. This method can be used in vehicles without additional sensors. And this method is especially suitable to be used in the intelligent vehicle equipped with steer-by-wire (SBW) system. When vehicle steers, releasing the steering wheel suddenly will result in rebound to a certain angle. When the steer wheel turns the same angle on different road whose adhesion coefficients are different, the front wheel rebound angles are different. The friction moment between the road and tire is the main factor to prevent the tire from turning back, and the coefficient of friction is equal to road adhesion coefficient when the vehicle is stationary. In this paper, the detailed dynamical models describing the whole process of the front wheel and tire rebound are established. Furthermore, the Luenberger reduced-order disturbance observer is established to estimate the friction moment, and then the adhesion coefficient is estimated. The SBW system which is usually equipped in intelligent vehicles can control the steer moment and steer angle accurately. When the steer wheel turns to certain angle, the SBW system is able to stop outputting torque quickly and timely, which is important for improving the experiment accuracy. In this paper, the SBW system is used to conduct an experiment on different roads. The experiment results demonstrate the validity of this method.

Shared Control Strategy for Vehicle Stability on U-Split Road

2019 ◽  
Author(s):  
Liangyao Yu ◽  
Lanie Abi ◽  
Zhenghong Lu ◽  
Yaqi Dai
Keyword(s):  
Control Strategy ◽  
Response Speed ◽  
Steering System ◽  
Stability Control ◽  
Front Wheel ◽  
Shared Control ◽  
Steering Wheel ◽  
Vehicle Dynamic ◽  
Stability Performance ◽  
The Stability

Abstract The steer-by-wire (SBW) system eliminates the mechanical connection between the steering wheel and the carriage wheel. It eliminates various limitations of the traditional steering system, so that the steering ratio of the car can be freely designed and the steering by wire system can achieve good active front wheel steering (AFS) function. In the study of the stability control of vehicles on the μ-split road, there are mainly two methods, one based on vehicle trajectory maintenance and the other based on vehicle dynamic stability control. Both of these control methods have delays, which is not conducive to the trajectory flowing ability of the vehicle when driving on the μ-split road. A shared control strategy is proposed to improve the vehicle’s stability. The purpose of this study is to establish different variable transmission ratio characteristic curves according to the different input signals of the driver and the vehicle, such as angular change speed, steering wheel angle, etc. Based on these conditions, a new model combining driver’s intention with vehicle dynamic model is established, so as to achieve the purpose of judging the stability of vehicle in advance, to reduce the delay time of control and to improve the response speed, which will improve the stability performance of the vehicle.

Research on Road Adhesion Coefficient Estimation for Electric Vehicle under Tire Cornering Condition

2013 ◽  
Vol 427-429 ◽  
pp. 275-279
Author(s):  
Yi Chen ◽  
Xue Feng Li ◽  
Tong Qu
Keyword(s):  
Electric Vehicle ◽  
Electric Vehicles ◽  
Estimation Method ◽  
Stability Control ◽  
Adhesion Coefficient ◽  
Estimation Algorithms ◽  
Coefficient Estimation ◽  
Stability Control System ◽  
Longitudinal Slip ◽  
Dynamics Stability

The research came up with a road adhesion coefficient estimation method for electric vehicle under tire cornering condition, compared with the previous researches that mainly focused on tire longitudinal behaviors. The designed identification method first distinguishes the states of small longitudinal slip and large longitudinal slip in the condition of tire cornering. Then estimation algorithms for the two conditions above operate respectively. By designing the simulation and selecting typical road conditions, the applicability and validity of the algorithm have been verified. The estimation method can be used to serve the electric vehicles dynamics stability control system.

Development of a New Lateral Stability Control System Enhanced With Accelerometer Based Tire Sensors

2010 ◽  
Author(s):  
Gurkan Erdogan ◽  
Francesco Borrelli ◽  
Riccardo Tebano ◽  
Giorgio Audisio ◽  
Giulia Lori ◽  
...  
Keyword(s):  
Control System ◽  
Control Systems ◽  
Stability Control ◽  
Lateral Stability ◽  
Driver Assistance Systems ◽  
The Road ◽  
Performance Improvements ◽  
Stability Control System ◽  
On The Road ◽  
Tire Forces

Vehicles are usually equipped with driver assistance systems such as anti-lock brake, traction control and lateral stability control systems. Although the forces maneuvering a vehicle are generated inside the tire contact patch, state of the art control systems have no feedback directly from the tires. Instead, observers based on indirect measurements are employed to close the control loop. Wireless sensors embedded inside the tires can be used to extract valuable information from the tire deformations such as forces. These forces can be used to develop adaptive stability control systems which update their parameters in real-time depending on the road and vehicle conditions. Furthermore, controllers can selectively regulate tire forces by changing brake/drive torques at each tire. This paper examines the integration of accelerometer based tire sensors with lateral stability control system (ESP). Its aim is to present the main components of a smart-tire enabled ESP and a preliminary study on potential performance improvements.

scholarly journals Research on the compensation method of Indirect Tire Pressure Monitoring under Sinusoidal Driving Condition

2018 ◽  
Vol 153 ◽  
pp. 04007
Author(s):  
Wang Liqiang ◽  
Qi Lin ◽  
Zhang Zhe ◽  
HAN Zongqi
Keyword(s):  
Comparison Method ◽  
Stability Control ◽  
Wheel Speed ◽  
Steering Wheel ◽  
Pressure Monitoring ◽  
Tire Pressure ◽  
Monitoring Method ◽  
Yaw Rate ◽  
Stability Control System ◽  
Tire Pressure Monitoring System

Indirect tire pressure monitoring method (ITPMS) is based on the wheel speed signal differences indirectly infer that the change of the tire pressure. In the steering mode, there is a large yaw rate, and there is a big deviation between the four wheels’ speed. The traditional indirect tire pressure monitoring method based on wheel speed comparison method is invalid. That the automobiles which is matched electronic stability control system estimate the four-wheel speed according to the yaw rate and steering wheel angle become an important method to improve the accuracy of Indirect tire pressure monitoring. Four-wheel vehicle kinematics model for turning condition is established to compensate for the wheel speed in the steering mode, avoid the misjudgment of indirect tire pressure monitoring system. The seven degree of freedom vehicle model and the four wheel speed model are established firstly, and analyse the four wheel speed change of the vehicle under the condition of a certain corner input in the simulation. Then conduct a test on the vehicle road, calculated using the four wheel speed distribution module model of vehicle wheel speed on the theoretical value of the actual value of the wheel speed compensation, so it can monitor the tire pressure in turning vehicle. When the error of the wheel speed is beyond the threshold, the wheel can be judged to be in the state of lack of gas.

scholarly journals Steering Stability Control for a Four Hub-Motor Independent-Drive Electric Vehicle with Varying Adhesion Coefficient

Energies ◽  
2018 ◽  
Vol 11 (9) ◽  
pp. 2438 ◽  
Author(s):  
Rufei Hou ◽  
Li Zhai ◽  
Tianmin Sun
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Integrated Control ◽  
Control Level ◽  
Stability Control ◽  
Sideslip Angle ◽  
Adhesion Coefficient ◽  
The Road ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control

In order to enhance the steering stability of a four hub-motor independent-drive electric vehicle (4MIDEV) on a road with varying adhesion coefficient, for example on a joint road, this paper proposes a hierarchical steering stability control strategy adapted to the road adhesion. The upper control level of the proposed strategy realizes the integrated control of the sideslip angle and yaw rate in the direct yaw moment control (DYC), where the influences of the road adhesion and sideslip angle are both studied by the fuzzy control. The lower control level employs a weight-based optimal torque distribution algorithm in which weight factors for each motor torque are designed to accommodate different adhesion of each wheel. The proposed stability control strategy was validated in a co-simulation of the Carsim and Matlab/Simulink platforms. The results of double-lane-change maneuver simulations under different conditions indicate that the proposed strategy can effectively achieve robustness to changes in the adhesion coefficient and improve the steering stability of the 4MIDEV.

Development and Application of Quality Control System for Highway Subgrade Construction

2019 ◽  
Vol 2 (5) ◽  
Author(s):  
Tong Wang
Keyword(s):  
Quality Control ◽  
Real Time ◽  
Detection Method ◽  
System Development ◽  
Effective Control ◽  
Construction Process ◽  
Development Mode ◽  
The Road ◽  
Whole Process

The compaction quality of the subgrade is directly related to the service life of the road. Effective control of the subgrade construction process is the key to ensuring the compaction quality of the subgrade. Therefore, real-time, comprehensive, rapid and accurate prediction of construction compaction quality through informatization detection method is an important guarantee for speeding up construction progress and ensuring subgrade compaction quality. Based on the function of the system, this paper puts forward the principle of system development and the development mode used in system development, and displays the development system in real-time to achieve the whole process control of subgrade construction quality.

Development of Trunk Transmission Online Integrated Stability Control System (ISC) for New Generation Grid

2017 ◽  
Vol 137 (6) ◽  
pp. 434-445 ◽  
Author(s):  
Hiroshi Yoshida ◽  
Ryuji Tachi ◽  
Koya Takafuji ◽  
Hironori Imaeda ◽  
Masaru Takeishi ◽  
...  
Keyword(s):  
Control System ◽  
Stability Control ◽  
Stability Control System ◽  
New Generation

Development of On-line Integrated Stability Control System (ISC) for Long-distance Bulk Power Transmission

2013 ◽  
Vol 133 (4) ◽  
pp. 313-323 ◽  
Author(s):  
Kuniaki Anzai ◽  
Kimihiko Shimomura ◽  
Soshi Yoshiyama ◽  
Hiroyuki Taguchi ◽  
Masaru Takeishi ◽  
...  
Keyword(s):  
Control System ◽  
Power Transmission ◽  
Stability Control ◽  
Long Distance ◽  
Stability Control System ◽  
On Line ◽  
Bulk Power

Improved AEB algorithm combined with estimating the adhesion coefficient of road ahead and considering the performance of EHB

2021 ◽  
pp. 095440702110261
Author(s):  
Dequan Zeng ◽  
Zhuoping Yu ◽  
Lu Xiong ◽  
Junqiao Zhao ◽  
Peizhi Zhang ◽  
...  
Keyword(s):  
Joint Probability ◽  
Principal Component ◽  
Test Results ◽  
Safe Distance ◽  
Adhesion Coefficient ◽  
The Road ◽  
Response Characteristics ◽  
Emergency Braking ◽  
Multiple Beams ◽  
Maximum Method

This paper proposes an improved autonomous emergency braking (AEB) algorithm intended for intelligent vehicle. Featuring a combination with the estimation of road adhesion coefficient, the proposed approach takes into account the performance of electronic hydraulic brake. In order for the accurate yet fast estimate of road ahead adhesion coefficient, the expectation maximization framework is applied depending on the reflectivity of ground extracted by multiple beams lidar in four major steps, which are the rough extraction of ground points based on 3 σ criterion, the accurate extraction of ground points through principal component analysis (PCA), the main distribution characteristics of ground as extracted using the expectation maximum method (EM) and the estimation of road adhesion coefficient via joint probability. In order to describe the performance of EHB, the response characteristics, as well as the forward and adverse models of both braking pressure and acceleration are obtained. Then, with two typical roads including single homogeneous road and fragment pavement, the safe distance of improved AEB is modeled. To validate the algorithm developed in this paper, various tests have been conducted. According to the test results, the reflectivity of laser point cloud is effective in estimating the road adhesion coefficient. Moreover, considering the performance of EHB system, the improved AEB algorithm is deemed more consistent with the practicalities.

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