Determination of the Vehicle Body Side Slip Angle with Non-Linear Observer Strategies

2005 ◽  
Author(s):  
Marcus Hiemer ◽  
Anne Von Vietinghoff ◽  
Uwe Kiencke ◽  
Takanori Matsunaga
Keyword(s):  
Vehicle Body ◽  
Slip Angle ◽  
Side Slip Angle ◽  
Body Side ◽  
Non Linear ◽  
Linear Observer

A novel fusion algorithm for estimation of the side-slip angle and the roll angle of a vehicle with optimized key parameters

2016 ◽  
Vol 231 (2) ◽  
pp. 161-174 ◽  
Author(s):  
Guirong Jiang ◽  
Lifu Liu ◽  
Changhong Guo ◽  
Jie Chen ◽  
Fahad Muhammad ◽  
...  
Keyword(s):  
Estimation Method ◽  
Roll Angle ◽  
Slip Angle ◽  
Measurement Instruments ◽  
Fusion Algorithm ◽  
Safety Control ◽  
Side Slip Angle ◽  
Non Linear ◽  
Linear Observer ◽  
Hysteretic Characteristics

As is known, estimation of the dynamic states of a vehicle plays an important role in safety control, but it is difficult to obtain the vehicle states accurately without expensive measurement instruments because of the non-linear and huge hysteretic characteristics. Nowadays, many methods have been adopted to solve this problem, the results of which are not ideal because it is assumed that the key parameters are constant, in particular in severe manoeuvres. This paper develops a novel estimation method for the vehicle states using the extended Kalman filter with a fusion algorithm. First, the optimal key parameters (the equivalent roll stiffness and the equivalent roll damping) are identified by genetic algorithms using the data from the relationship between the key parameters and the vehicle real-time states. Then, a novel non-linear observer for the side-slip angle and the roll angle is established on the basis of a four-degree-of-freedom vehicle model by utilizing the identified key parameters and the sensors mounted on normal vehicles. The performance of the observer is investigated using both simulations and real-vehicle experiments. The results demonstrate the reasonable accuracy of the estimation method proposed in this paper.

Analytical Redundancy Based Fault Tolerant Control of a Steer-by-Wire System

2006 ◽  
Author(s):  
Sohel Anwar ◽  
Lei Chen
Keyword(s):  
Fault Detection ◽  
Fault Detection And Isolation ◽  
Vehicle Body ◽  
Slip Angle ◽  
Side Slip Angle ◽  
Body Side ◽  
Steer By Wire ◽  
Analytical Redundancy ◽  
High Level ◽  
Wire System

This paper presents a novel observer-based analytical redundancy for a steer-by-wire (SBW) system. In order to achieve high level of reliability for a By-Wire system, double, triple, or even quadruple redundant sensors, actuators, communication networks, and controllers are needed. But this added hardware increases the overall cost of the vehicle. This paper utilizes a novel analytical redundancy methodology to reduce the total number of redundant road-wheel angle (RWA) sensors in a triply redundant RWA-based SBW system, while maintaining a high level of reliability. The self-aligning torque at road-tire interface due to the steering dynamics has been modeled as a function of the linear vehicle states. A full state observer was designed using the combined model of the vehicle and SBW system to estimate the vehicle body side slip angle. The steering angle was then estimated from the observed and measured states of the vehicle (body side slip angle and yaw rate) as well as the current input to the SBW electric motor(s). With at least two physical road-wheel angle sensors and the analytical estimation of the RWA value (which replaces the third physical sensor), a fault detection and isolation (FDI) algorithm was developed using a majority voting scheme. The FDI algorithm was then used to detect faulty sensor(s) in order to maintain safe drivability. The proposed analytical redundancy based fault detection & isolation algorithms and the linearized vehicle model were modeled in SIMULINK. Simulation of the proposed algorithm was performed for both single and multiple sensor faults. Simulation results show that the proposed analytical redundancy based fault detection and isolation algorithm provides the same level of fault tolerance as in an SBW system with full hardware redundancy against single point failures.

Slip parameter estimation of a single wheel using a non-linear observer

Robotica ◽  
2008 ◽  
Vol 27 (6) ◽  
pp. 801-811 ◽  
Author(s):  
Z. B. Song ◽  
L. D. Seneviratne ◽  
K. Althoefer ◽  
X. J. Song ◽  
Y. H. Zweiri
Keyword(s):  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Slip Angle ◽  
Wheel Slip ◽  
Variable Structure System ◽  
Non Linear ◽  
Linear Observer

SUMMARYSliding mode observer is a variable structure system where the dynamics of a nonlinear system is altered via application of a high-frequency switching control. This paper presents a non-linear sliding mode observer for wheel linear slip and slip angle estimation of a single wheel based on its kinematic model and velocity measurements with added noise to simulate actual on-board sensor measurements. Lyapunov stability theory is used to establish the stability conditions for the observer. It is shown that the observer will converge in a finite time, provided the observer gains satisfy constraints based on a stability analysis. To validate the observer, linear and two-dimensional (2D) test rigs are specially designed. The sliding mode observer is tested under a variety of conditions and it is shown that the sliding mode observer can estimate wheel slip and slip angle to a high accuracy. It is also shown that the sliding mode observer can accurately predict wheel slip and slip angle in the presence of noise, by testing the performance of the sliding mode observer after adding white noise to the measurements. An extended Kalman filter is also developed for comparison purposes. The sliding mode observer is better in terms of prediction accuracy.

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

Camera Based Measurement of Side Slip Angle in an Automobile

2009 ◽  
Author(s):  
Frank Harchut ◽  
Bernhard Mueller-Bessler
Keyword(s):  
Ground Truth ◽  
Slip Angle ◽  
Passenger Cars ◽  
Side Slip Angle ◽  
Current Production ◽  
Direction Of Movement ◽  
Time Part ◽  
Vision Algorithm ◽  
Real Vehicle

For vehicle dynamics applications, automotive companies are interested in determining the precise vehicle state in every driving situation in real-time. Part of the vehicle state is the side slip angle—the angle between the vehicle heading and its direction of movement. Currently the side slip angle is not measured in stock cars. To fill the gap this paper presents a basic proof of concept to measure the side slip angle using stock car components for sensing. These include an automotive camera and additional movement information provided in current production passenger cars. A basic computer vision algorithm allows determination of camera movement through the identification of static objects in consecutive camera images. In conjunction with a kinematical model, this data is then used to derive the car’s side slip angle. Finally, the method is evaluated on a real vehicle, with dGPS providing ground truth.

The Impact of Nonlinear of Tire on Multi-Axle Vehicle Steering

2011 ◽  
Vol 403-408 ◽  
pp. 3424-3429 ◽  
Author(s):  
Huan Wang ◽  
Xiu Hua Gao ◽  
Jian Kai Chen ◽  
Chao Wang
Keyword(s):  
Degrees Of Freedom ◽  
Vehicle Body ◽  
Step Response ◽  
Slip Angle ◽  
Rolling Angle ◽  
Side Slip Angle ◽  
Bp Neural Network Model ◽  
Yaw Angle ◽  
The Impact ◽  
Three Degrees Of Freedom

BP neural network model of tire and three degrees of freedom dynamic model of Multi-Axle vehicle were built. According to Zero side slip angle control theory, with the use of MATLAB software, comparative analysis of the step response of the vehicle side slip angle, yaw angle velocity and rolling angle in the driving vehicle with linear and nonlinear tires was done. The results show thatMulti-Axle vehicle with nonlinear tires has obvious affect between side slip angle and yaw angle velocity of the vehicle body. Relative to Multi-Axle vehicle with linear tires, the overshoot of step response increases greatly, and the Steady-State value does not equal to zero; but rolling angle of the vehicle with nonlinear tires has less affected.

scholarly journals Non-linear tyre model–based non-singular terminal sliding mode observer for vehicle velocity and side-slip angle estimation

2018 ◽  
Vol 233 (1) ◽  
pp. 38-54 ◽  
Author(s):  
Boyuan Li ◽  
Haiping Du ◽  
Weihua Li ◽  
Bangji Zhang
Keyword(s):  
Control System ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Slip Angle ◽  
Linear Estimator ◽  
Terminal Sliding Mode ◽  
Tyre Model ◽  
Side Slip Angle ◽  
Vehicle Velocity ◽  
Non Linear

Vehicle velocity and side-slip angle are important vehicle states for the electronic stability programme and traction control system in vehicle safety control system and for the control allocation method of electric vehicles with in-wheel motors. This paper proposes an innovative side-slip angle estimator based on the non-linear Dugoff tyre model and non-singular terminal sliding mode observer. The proposed estimation method based on the non-linear tyre model can accurately present the tyre’s non-linear characteristics and can show advantages over estimation methods based on the linear tyre model. The utilised Dugoff tyre model has a relatively simple structure with few parameters, and the proposed non-linear observer can be applied in various vehicle tyres and various road conditions. Precise determination of the Dugoff tyre model parameters is not required and the proposed observer can still perform good estimation results even though tyre parameters and the tyre–road friction coefficient are not accurate. The proposed non-singular terminal sliding mode observer can achieve fast convergence rate and better estimation performance than the traditional sliding mode observer. At the end of this paper, simulations in various conditions are presented to validate the proposed non-linear estimator.

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