scholarly journals Roll Angle Estimation of a Motorcycle through Inertial Measurements

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6626
Author(s):  
Diego Maceira ◽  
Alberto Luaces ◽  
Urbano Lugrís ◽  
Miguel Á. Naya ◽  
Emilio Sanjurjo
Keyword(s):  
Kalman Filter ◽  
Autonomous Driving ◽  
Roll Angle ◽  
Multibody Model ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Active Safety Systems ◽  
Importance Factor ◽  
Inertial Measurements ◽  
Safety Systems

Currently, the interest in creating autonomous driving vehicles and progressively more sophisticated active safety systems is growing enormously, being a prevailing importance factor for the end user when choosing between either one or another commercial vehicle model. While four-wheelers are ahead in the adoption of these systems, the development for two-wheelers is beginning to gain importance within the sector. This makes sense, since the vulnerability for the driver is much higher in these vehicles compared to traditional four-wheelers. The particular dynamics and stability that govern the behavior of single-track vehicles (STVs) make the task of designing active control systems, such as Anti-lock Braking System (ABS) systems or active or semi-active suspension systems, particularly challenging. The roll angle can achieve high values, which greatly affects the general behavior of the vehicle. Therefore, it is a magnitude of the utmost importance; however, its accurate measurement or estimation is far from trivial. This work is based on a previous paper, in which a roll angle estimator based on the Kalman filter was presented and tested on an instrumented bicycle. In this work, a further refinement of the method is proposed, and it is tested in more challenging situations using the multibody model of a motorcycle. Moreover, an extension of the method is also presented to improve the way noise is modeled within this Kalman filter.

scholarly journals Vehicle State Information Estimation with the Unscented Kalman Filter

2014 ◽  
Vol 6 ◽  
pp. 589397 ◽  
Author(s):  
Hongbin Ren ◽  
Sizhong Chen ◽  
Gang Liu ◽  
Kaifeng Zheng
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Unscented Kalman Filter ◽  
Piecewise Linear ◽  
Vehicle Speed ◽  
State Information ◽  
Active Safety Systems ◽  
Tire Forces ◽  
Safety Systems ◽  
Vehicle Active Safety

The vehicle state information plays an important role in the vehicle active safety systems; this paper proposed a new concept to estimate the instantaneous vehicle speed, yaw rate, tire forces, and tire kinemics information in real time. The estimator is based on the 3DoF vehicle model combined with the piecewise linear tire model. The estimator is realized using the unscented Kalman filter (UKF), since it is based on the unscented transfer technique and considers high order terms during the measurement and update stage. The numerical simulations are carried out to further investigate the performance of the estimator under high friction and low friction road conditions in the MATLAB/Simulink combined with the Carsim environment. The simulation results are compared with the numerical results from Carsim software, which indicate that UKF can estimate the vehicle state information accurately and in real time; the proposed estimation will provide the necessary and reliable state information to the vehicle controller in the future.

scholarly journals Multi-Modes Control for Semi-Active Suspension Systems

2020 ◽  
Vol 53 (2) ◽  
pp. 14407-14412
Author(s):  
G. BEL HAJ FREJ ◽  
X. MOREAU ◽  
E. HAMROUNI ◽  
A. BENINE-NETO ◽  
V. HERNETTE
Keyword(s):  
Active Suspension ◽  
Suspension Systems ◽  
Active Suspension Systems

scholarly journals A Novel Comprehensive Scheme for Vehicle State Estimation Using Dual Extended H-Infinity Kalman Filter

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1526
Author(s):  
Fengjiao Zhang ◽  
Yan Wang ◽  
Jingyu Hu ◽  
Guodong Yin ◽  
Song Chen ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Estimation Accuracy ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
H Infinity ◽  
Yaw Rate ◽  
Cost Constraints ◽  
Active Safety Systems ◽  
Vehicle State Estimation

The performance of vehicle active safety systems relies on accurate vehicle state information. Estimation of vehicle state based on onboard sensors has been popular in research due to technical and cost constraints. Although many experts and scholars have made a lot of research efforts for vehicle state estimation, studies that simultaneously consider the effects of noise uncertainty and model parameter perturbation have rarely been reported. In this paper, a comprehensive scheme using dual Extended H-infinity Kalman Filter (EH∞KF) is proposed to estimate vehicle speed, yaw rate, and sideslip angle. A three-degree-of-freedom vehicle dynamics model is first established. Based on the model, the first EH∞KF estimator is used to identify the mass of the vehicle. Simultaneously, the second EH∞KF estimator uses the result of the first estimator to predict the vehicle speed, yaw rate, and sideslip angle. Finally, simulation tests are carried out to demonstrate the effectiveness of the proposed method. The test results indicate that the proposed method has higher estimation accuracy than the extended Kalman filter.

Dynamic Performance of Neck Protection Devices: Performance Analysis Based on a Simplified Multibody Model of the Human Neck

2012 ◽  
Author(s):  
Massimiliano Gobbi ◽  
Gianpiero Mastinu ◽  
Giorgio Previati ◽  
Ermes Tarallo
Keyword(s):  
Soft Tissues ◽  
Mechanical Response ◽  
Dynamic Performance ◽  
Safety Devices ◽  
Anatomy And Physiology ◽  
Multibody Model ◽  
Impulsive Loads ◽  
Protection Devices ◽  
Safety Systems ◽  
Deformation System

This work is focused on the evaluation of the dynamic performance of different neck protection devices. In order to evaluate the mechanical response of the safety devices, a multibody model of the human neck has been developed in Matlab™ SimMechanics™. The mechanical behavior of the neck is described in the paper and different injury indices are presented and compared. The information about anatomy and physiology of the cervical spine of the neck has been collected from the literature, with particular focus on the mechanism of damage of vertebrae, disks and soft tissues. The multibody model has been validated against experimental data available in the literature concerning impulsive loads representative of crash phenomena. By means of the presented model, some relevant injury indices are computed for an accident involving a motorcyclist. Since the focus has been set on mild injuries of the neck, the simulated crash should cause a high probability of injuries of the neck together with a low probability of damages of the head while wearing a standard helmet. The performance of neck safety devices that link the helmet with the thoracic-shield are evaluated and compared. For sake of clearness, three types of neck safety devices are considered referencing to US patents: an airbag jacket, a 3D cushion wrapping the motorcyclist’s neck, and a “spring and dampers” system. The airbag jacket has been modeled as a high stiffness and low deformation system by considering the airbag in its fully deployed configuration and by neglecting its dynamic performance during inflation phase. The other safety devices have been modeled as lumped parameters spring-damper systems. A sensitivity analysis on the injury indexes has been performed by changing the stiffness and the damping parameters of these safety systems. The injury indexes collected by simulating the different neck safety systems have been compared.

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