scholarly journals Integrated estimation structure for the tire friction forces in ground vehicles

2016 ◽  
Author(s):  
E. Hashemi ◽  
M. Pirani ◽  
A. Khajepour ◽  
B. Fidan ◽  
A. Kasaiezadeh ◽  
...  
Keyword(s):  
Ground Vehicles ◽  
Friction Forces ◽  
Tire Friction ◽  
Integrated Estimation

Should a Vehicle Always Deviate to the Tire Blowout Side? - A New Tire Blowout Model with Toe Angle Effects

2021 ◽  
Author(s):  
Ao Li ◽  
Yan Chen ◽  
Xinyu Du ◽  
Wen-Chiao Lin
Keyword(s):  
Road Safety ◽  
Experimental Results ◽  
Vehicle Stability ◽  
Ground Vehicles ◽  
Test Vehicle ◽  
Friction Forces ◽  
Toe Angle ◽  
Tire Forces ◽  
Tire Friction ◽  
First Time

Abstract As a severe tire failure, tire blowout during driving can significantly threaten vehicle stability and road safety. Tire blowout models were developed in the literature to conclude that a vehicle always deviates to the tire blowout side. However, this conclusion is proved to be inaccurate in this paper, since one important factor was largely ignored in the existing tire blowout models. Toe angle, as a basic and widely-applied setup on ground vehicles, can provide preset and symmetric lateral tire forces for normal driving. However, when tire blowout occurs, different toe angle setups can impact vehicle motions in different ways. For the first time, the toe angle is explicitly considered and integrated into a tire blowout model in this paper. For different tire blowout locations, driving maneuvers, and drivetrain configurations, the impacts of different toe angle setups on the variations of tire friction forces and vehicle motions are analyzed. The developed tire blowout model with toe angles is validated through both high-fidelity CarSim® simulation results and experimental results of a scaled test vehicle. Both simulation and experimental results show that a vehicle may not deviate to the tire blowout side, depending on the toe angle setups and driving maneuvers. Moreover, the experimental results also validate that the proposed tire blowout model can accurately evaluate the tire blowout impacts on vehicle dynamics.

Dynamics and Control of Four Wheeled Differentially Steered UGVs

2014 ◽  
Author(s):  
Andrew Narvesen ◽  
Majura F. Selekwa
Keyword(s):  
Autonomous Navigation ◽  
Research Area ◽  
Control Parameters ◽  
Ground Vehicles ◽  
Friction Forces ◽  
Straight Line ◽  
Dynamics And Control ◽  
Left And Right ◽  
And Control ◽  
Very High

Autonomous navigation of ground vehicles is a growing research area. Skid steered wheeled ground vehicles are of interest because of the system’s relatively easy control parameters. Steered wheels require actuation and control for the steering and speed of the steered wheels while skid steering just requires actuation and control of the wheel speeds, usually just a left and right wheel speed. Four Wheeled differentially steered vehicles are built primarily for straight line motion since the instantaneous centers of zero velocities for the four wheels are always at infinity when there is no sliding in the wheels. When the vehicle has to negotiate a corner, it uses the differential velocities between sides to force the wheels to slide and perform the cornering maneuver. Maneuvering is difficult when the ground friction is very high because of undue stresses in the axle structure. This paper analyses the dynamics of such vehicles that relates the traction and skid friction forces and proposes a suitable control system. At this time, the paper is supported by simulation results while experimental work is still going on.

Adaptive Unified Monitoring System Design for Tire-Road Information

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Shuo Cheng ◽  
Ming-ming Mei ◽  
Xu Ran ◽  
Liang Li ◽  
Lin Zhao
Keyword(s):  
Friction Coefficient ◽  
Monitoring System ◽  
Estimation Method ◽  
Recursive Least Squares ◽  
Vehicle Body ◽  
Friction Forces ◽  
Road Friction ◽  
Tire Forces ◽  
Tire Friction ◽  
Road Friction Coefficient

Knowledge of the tire-road information is not only very crucial in many active safety applications but also significant for self-driving cars. The tire-road information mainly consists of tire-road friction coefficient and road-tire friction forces. However, precise measurement of tire-road friction coefficient and tire forces requires expensive equipment. Therefore, the monitoring of tire-road information utilizing either accurate models or improved estimation algorithms is essential. Considering easy availability and good economy, this paper proposes a novel adaptive unified monitoring system (AUMS) to simultaneously observe the tire-road friction coefficient and tire forces, i.e., vertical, longitudinal, and lateral tire forces. First, the vertical tire forces can be calculated considering vehicle body roll and load transfer. The longitudinal and lateral tire forces are estimated by an adaptive unified sliding mode observer (AUSMO). Then, the road-tire friction coefficient is observed through the designed mode-switch observer (MSO). The designed MSO contains two modes: when the vehicle is under driving or brake, a slip slope method (SSM) is used, and a recursive least-squares (RLS) identification method is utilized in the SSM; when the vehicle is under steering, a comprehensive friction estimation method is adopted. The performance of the proposed AUMS is verified by both the matlab/simulinkCarSim co-simulation and the real car experiment. The results demonstrate the effectiveness of the proposed AUMS to provide accurate monitoring of tire-road information.

Robust Estimation and Experimental Evaluation of Longitudinal Friction Forces in Ground Vehicles

2014 ◽  
Author(s):  
Ehsan Hashemi ◽  
Alireza Kasaiezadeh ◽  
Amir Khajepour ◽  
Nikolai Moshchuk ◽  
Shih-Ken Chen
Keyword(s):  
Dynamic Models ◽  
Unscented Kalman Filter ◽  
Estimation Procedure ◽  
Longitudinal Force ◽  
Motor Drives ◽  
Tire Model ◽  
Ground Vehicles ◽  
Force Estimation ◽  
Friction Forces ◽  
The Road

A longitudinal force estimation based on wheel dynamics and unscented Kalman filter is proposed in this report to address the difficulties in the conventional tire-based approaches. Although it seems that implementation of a tire model in the estimation procedure should result in more accurate results, especially for non-linear regions, complexities in identifying the tire parameters due to the variation of the road and tire conditions leads to inaccurate results for harsh maneuvers on slippery roads. Moreover, the estimation process requires reliable measurements and this necessitates utilizing dynamic models with feasible measurements. Consequently, wheel dynamics is employed to extend the fidelity of the algorithm. For such a model, wheel speeds as reliable and feasible measurements are available. In this strategy, the complex tire-road interaction can be discarded since the wheel speeds are being observed by wheel sensors and the values of the effective torques are provided by motor drives then the longitudinal forces at each individual corner of the vehicle can be estimated independently. Experimental and simulation results confirm the validity of the algorithm in slippery road conditions as well as normal conditions. The newly developed structure has a strong potential to be integrated with other state estimation, such as longitudinal/lateral velocities and lateral forces.

Calculation of Dynamic Tire Forces from Aircraft Instrumentation Data

2010 ◽  
Vol 38 (3) ◽  
pp. 182-193 ◽  
Author(s):  
Gary E. McKay
Keyword(s):  
System Performance ◽  
Equations Of Motion ◽  
Test Laboratory ◽  
Excellent Correlation ◽  
Friction Behavior ◽  
Aircraft Landing ◽  
Data Scatter ◽  
Tire Forces ◽  
Six Degree Of Freedom ◽  
Tire Friction

Abstract When evaluating aircraft brake control system performance, it is difficult to overstate the importance of understanding dynamic tire forces—especially those related to tire friction behavior. As important as they are, however, these dynamic tire forces cannot be easily or reliably measured. To fill this need, an analytical approach has been developed to determine instantaneous tire forces during aircraft landing, braking and taxi operations. The approach involves using aircraft instrumentation data to determine forces (other than tire forces), moments, and accelerations acting on the aircraft. Inserting these values into the aircraft’s six degree-of-freedom equations-of-motion allows solution for the tire forces. While there are significant challenges associated with this approach, results to date have exceeded expectations in terms of fidelity, consistency, and data scatter. The results show excellent correlation to tests conducted in a tire test laboratory. And, while the results generally follow accepted tire friction theories, there are noteworthy differences.

Investigations of Road Wear Caused by Studded Tires

2014 ◽  
Vol 42 (1) ◽  
pp. 2-15
Author(s):  
Johannes Gültlinger ◽  
Frank Gauterin ◽  
Christian Brandau ◽  
Jan Schlittenhard ◽  
Burkhard Wies
Keyword(s):  
Traffic Safety ◽  
Test Bench ◽  
Operating Conditions ◽  
Test Method ◽  
Analytical Models ◽  
The Road ◽  
Driving Speed ◽  
Major Factors ◽  
Tire Friction ◽  
Variable Operating Conditions

ABSTRACT The use of studded tires has been a subject of controversy from the time they came into market. While studded tires contribute to traffic safety under severe winter conditions by increasing tire friction on icy roads, they also cause damage to the road surface when running on bare roads. Consequently, one of the main challenges in studded tire development is to reduce road wear while still ensuring a good grip on ice. Therefore, a research project was initiated to gain understanding about the mechanisms and influencing parameters involved in road wear by studded tires. A test method using the institute's internal drum test bench was developed. Furthermore, mechanisms causing road wear by studded tires were derived from basic analytical models. These mechanisms were used to identify the main parameters influencing road wear by studded tires. Using experimental results obtained with the test method developed, the expected influences were verified. Vehicle driving speed and stud mass were found to be major factors influencing road wear. This can be explained by the stud impact as a dominant mechanism. By means of the test method presented, quantified and comparable data for road wear caused by studded tires under controllable conditions can be obtained. The mechanisms allow predicting the influence of tire construction and variable operating conditions on road wear.

A Quantitative Theory for the Computation of Tire Friction Under Severe Conditions of Sliding

1986 ◽  
Vol 14 (1) ◽  
pp. 44-72 ◽  
Author(s):  
C. M. Mc C. Ettles
Keyword(s):  
Friction Coefficient ◽  
Flash Temperature ◽  
Contact Conditions ◽  
Quantitative Form ◽  
Heating Effects ◽  
Rubber Friction ◽  
Viscoelastic Effects ◽  
Tire Friction ◽  
Pavement Friction ◽  
Metal Polymer

Abstract It is proposed that tire-pavement friction is controlled by thermal rather than by hysteresis and viscoelastic effects. A numerical model of heating effects in sliding is described in which the friction coefficient emerges as a dependent variable. The overall results of the model can be expressed in a closed form using Blok's flash temperature theory. This allows the factors controlling rubber friction to be recognized directly. The model can be applied in quantitative form to metal-polymer-ice contacts. Several examples of correlation are given. The difficulties of characterizing the contact conditions in tire-pavement friction reduce the model to qualitative form. Each of the governing parameters is examined in detail. The attainment of higher friction by small, discrete particles of aluminum filler is discussed.

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