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 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

Longitudinal Tire Dynamics Model for Transient Braking Analysis: ANCF-LuGre Tire Model

2015 ◽  
Vol 10 (3) ◽  
Author(s):  
Hiroki Yamashita ◽  
Yusuke Matsutani ◽  
Hiroyuki Sugiyama
Keyword(s):  
Structural Deformation ◽  
Model Parameters ◽  
Force Distribution ◽  
Force Model ◽  
Tire Model ◽  
Elastic Ring ◽  
Contact Patch ◽  
Tire Force ◽  
Tire Dynamics ◽  
Tire Friction

In this investigation, the flexible tire model based on the absolute nodal coordinate formulation (ANCF) is integrated with LuGre tire friction model for evaluation of the longitudinal tire dynamics under severe braking scenarios. The ANCF-LuGre tire model developed allows for considering the nonlinear coupling between the dynamic structural deformation of the tire and its transient tire force distribution in the contact patch using general multibody dynamics computer algorithms. To this end, the contact patch obtained by the ANCF elastic ring tire model is discretized into small strips and the state of friction at each strip is defined by the differential equation associated with the discretized LuGre friction parameters. The normal contact pressure distribution predicted by the ANCF elastic ring elements that are in contact with the road surface are mapped onto the LuGre strips in the contact patch to evaluate the tangential tire force distribution and then the tire forces evaluated at LuGre strips are fed back to the generalized tangential contact forces of the ANCF elastic ring tire model. By doing so, the structural deformation of the ANCF elastic ring tire model is dynamically coupled with the LuGre tire friction in the final form of the governing equations. Furthermore, the systematic and automated parameter identification procedure for the LuGre tire force model is developed. It is shown that use of the proposed procedure with the modified friction curve proposed for wet road conditions leads to accurate prediction of the LuGre model parameters for measured tire force characteristics under various loading and speed conditions. Several numerical examples are presented in order to demonstrate the use of the in-plane ANCF-LuGre tire model for the longitudinal transient dynamics of tires under severe braking scenarios.

On the Parameter Identification of LuGre Tire Friction Model

2013 ◽  
Author(s):  
Yusuke Matsutani ◽  
Hiroyuki Sugiyama
Keyword(s):  
Error Function ◽  
Numerical Procedure ◽  
Friction Model ◽  
Least Square ◽  
Model Parameters ◽  
Force Model ◽  
Lugre Model ◽  
Tire Force ◽  
Brake Force ◽  
Tire Friction

In this investigation, use of the LuGre tire friction model for the transient brake force analysis is discussed. In particular, a numerical procedure for estimating parameters for the LuGre tire force model is developed. The parameters of the distributed LuGre model are identified such that the error function of tire forces obtained using the model and experiment can be minimized. Friction parameters used in the LuGre tire force model are estimated using the characteristics curve of the friction coefficient as a function of the slip velocity first, and then the adhesion parameter is estimated using the slope around the zero slip ratio using the least square fitting. Iterative solution procedures are then employed to identify the overall model parameters using the initial estimates provided. It is demonstrated that use of the proposed numerical procedure leads to accurate prediction of the LuGre model parameters for various loading and speed conditions. Furthermore, it is demonstrated that the decrease in the peak of the brake force as the increase in the running speed can be well predicted using the transient distributed LuGre tire force model with model parameters predicated using the proposed procedure.

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.

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.

Normalization of Tire Force and Moment Data

1993 ◽  
Vol 21 (2) ◽  
pp. 91-119 ◽  
Author(s):  
H. S. Radt ◽  
D. A. Glemming
Keyword(s):  
Surface Water ◽  
Lateral Force ◽  
Slip Angle ◽  
Inflation Pressure ◽  
Slip Ratio ◽  
Tire Force ◽  
Camber Angle ◽  
Potential Benefits ◽  
Overturning Moment ◽  
Semi Empirical

Abstract Semi-empirical theories of tire mechanics are employed to determine appropriate means to normalize forces, moments, angles, and slip ratios. Force and moment measurements on a P195/70R 14 tire were normalized to show that data at different loads could then be superimposed, yielding close to one normalized curve. Included are lateral force, self-aligning torque, and overturning moment as a function of slip angle, inclination angle, slip ratio, and combinations. It is shown that, by proper normalization of the data, one need only determine one normalized force function that applies to combinations of slip angle, camber angle, and load or slip angle, slip ratio, and load. Normalized curves are compared for the effects of inflation pressure and surface water thickness. Potential benefits as well as limitations and deficiencies of the approach are presented.

A novel model of Z-pin insertion in prepreg based on fracture mechanics

2021 ◽  
pp. 095440542110144
Author(s):  
Guobiao Ji ◽  
Liang Cheng ◽  
Shaohua Fei ◽  
Jiangxiong Li ◽  
Yinglin Ke
Keyword(s):  
Fracture Toughness ◽  
Fracture Mechanics ◽  
Analytical Model ◽  
Model Parameters ◽  
Force Model ◽  
Fe Model ◽  
Cohesive Elements ◽  
Fe Method ◽  
Insertion Force ◽  
Mechanics Model

Through-thickness reinforcement is a promising solution to the problem of delamination susceptibility in laminated composites. Modeling Z-pin–prepreg interaction is essential for accurate robotics-assisted Z-pin insertion. In this paper, a novel Z-pin insertion force model combining the classical cohesive finite element (FE) method with a dynamic analytical fracture mechanics model is proposed. The velocity-dependent cohesive elements, in which the fracture toughness is provided by the analytical model, are implemented in Z-pin insertion FE model to predict the crack initiation and propagation. Then Z-pin insertion experiments are performed on prepreg sample with metallic Z-pins at different velocities to identify the analytical model parameters and validate the simulation predictions offered by the model. Dynamics of Z-pin interaction with inhomogeneous prepreg is described and the effects of insertion velocity on prepreg contact force are studied. Results show that the force model agrees well with experiments and the fracture toughness rises with the increasing Z-pin insertion velocity.

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