scholarly journals Conflict and Sensitivity Analysis of Vehicular Stability Using a Two-State Linear Bicycle Model

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Mohamed A. Hassan ◽  
Mohamed A. A. Abdelkareem ◽  
Gangfeng Tan ◽  
M. M. Moheyeldein
Keyword(s):  
Critical Role ◽  
Lateral Acceleration ◽  
Vehicle Stability ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
Tire Force ◽  
Operation Conditions ◽  
Bicycle Model ◽  
Tire Stiffness ◽  
Longitudinal Position

Vehicle parameters and operation conditions play a critical role in vehicular handling and stability. This study aimed to evaluate vehicle stability based on cornering tire stiffness integrated with vehicle parameters. A passenger vehicle is considered in which a two-state linear bicycle model is developed in the Matlab/Simulink. The effect of the vehicle parameters on lateral vehicle stability has been investigated and analyzed. The investigated parameters included CG longitudinal position, wheelbase, and tire cornering stiffness. Furthermore, the effects of load variation and vehicle speed were addressed. Based on a Fishhook steering maneuver, the lateral stability criteria represented in lateral acceleration, yaw rate, vehicle sideslip angle, tire sideslip angles, and the lateral tire force were analyzed. The results demonstrated that the parameters that affect the lateral vehicle stability the most are the cornering stiffness coefficient and the CG longitudinal location. The findings also indicated a positive correlation between vehicle properties and lateral handling and stability.

Sensitivity Analysis of Vehicle Parameters on Dynamic Stability and Vehicle Handling Performance

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
M.M.M. Salem ◽  
Mina. M Ibrahim ◽  
M.A. Mourad ◽  
K.A. Abd El-Gwwad
Keyword(s):  
Dynamic Stability ◽  
Degrees Of Freedom ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Vehicle Dynamic ◽  
Vehicle Handling ◽  
Bicycle Model ◽  
State Region ◽  
The Mathematical Model

In this paper, a linear two degrees of freedom linear bicycle model is proposed to investigate the vehicle handling criterion. The study is based on simulation developed using MATLAB / Simulink to predict the vehicle dynamic stability. Steering angle is given as an input to the mathematical model for various vehicular manoeuvres. This model is validated using a step input which is adjusted to give 0.3g lateral acceleration. The system model is simulated under a typical front wheel steering to examine the highway vehicle prediction output within its manoeuvre. This input is also adjusted to keep lateral acceleration value in steady state region. It is found that changing the vehicle center of gravity (CG) position, vehicle mass, tire cornering stiffness and vehicle speed all have a significant influence on the vehicle dynamic stability.

Vehicle Sideslip Angle Estimation Through Neural Networks: Application to Experimental Data

2006 ◽  
Author(s):  
Stefano Melzi ◽  
Edoardo Sabbioni ◽  
Alessandro Concas ◽  
Marco Pesce
Keyword(s):  
Neural Network ◽  
Experimental Data ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
The Neural Network ◽  
Training Stage ◽  
Wide Range ◽  
Self Adaptation

This work explores the possibility of using a non-structured algorithm as a sideslip angle valuer: on the basis of a preliminary numerical analysis, a neural network was designed and trained with experimental signals of lateral acceleration, vehicle speed, yaw rate and steer angle. The network was applied to experimental data in order to verify its capability of self-adaptation to changes in friction coefficient and to provide accurate estimations for manoeuvres sensibly different from the ones used during the training stage. The simple architecture joined with an appropriate training set conferred good self-adaptation properties to the neural network which was able to provide satisfying estimation of side slip angle for a wide range of manoeuvres and different friction conditions.

Research on Stability Simulation for Four-Wheel Independent Steering Electric Vehicle

2012 ◽  
Vol 512-515 ◽  
pp. 2657-2661
Author(s):  
Zhi Jun Deng ◽  
Zhu Rong Dong
Keyword(s):  
Electric Vehicle ◽  
Feedforward Control ◽  
Dynamics Simulation ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Vehicle Model ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Tracking Ability ◽  
Approximate Zero

Handling dynamic model is established for the four-wheel independent steering electric vehicle (4WISEV) that has been developed by our research group. Handling dynamics simulation is conducted under Matlab environment with the parameters of the vehicle model, including the yaw rate, the lateral acceleration and the vehicle sideslip angle time domain and frequency domain characteristic simulation. Through analyzing the simulation results, it is indicated that, by adopting the feedforward control of the front steer angle and the feedback control of the yaw rate and vehicle speed which enable the vehicle sideslip angle to approximate zero, 4WISEV can effectively increase the handling stability of the vehicle and the tracking ability during steering process.

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.

scholarly journals A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 394 ◽  
Author(s):  
Michele Vignati ◽  
Edoardo Sabbioni ◽  
Federico Cheli
Keyword(s):  
Control Strategies ◽  
Rear Wheel ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Electric Motors ◽  
Sideslip Angle ◽  
Vehicle Performance ◽  
Wheel Drive ◽  
Torque Vectoring ◽  
The One

When dealing with electric vehicles, different powertrain layouts can be exploited. Among them, the most interesting one in terms of vehicle lateral dynamics is represented by the one with independent electric motors: two or four electric motors. This allows torque-vectoring control strategies to be applied for increasing vehicle lateral performance and stability. In this paper, a novel control strategy based on torque-vectoring is used to design a drifting control that helps the driver in controlling the vehicle in such a condition. Drift is a particular cornering condition in which high values of sideslip angle are obtained and maintained during the turn. The controller is applied to a rear-wheel drive race car prototype with two independent electric motors on the rear axle. The controller relies only on lateral acceleration, yaw rate, and vehicle speed measurement. This makes it independent from state estimators, which can affect its performance and robustness.

The Driving Severity Number (DSN) — A Step Toward Quantifying Treadwear Test Conditions

1986 ◽  
Vol 14 (3) ◽  
pp. 139-159 ◽  
Author(s):  
A. G. Veith
Keyword(s):  
Signal Processing ◽  
Ambient Temperature ◽  
Lateral Acceleration ◽  
Force Distribution ◽  
Single Index ◽  
Tire Force ◽  
Test Conditions ◽  
Wheel Revolution ◽  
High Degree ◽  
Revolution Counter

Abstract A system, called the “Driving Severity Monitor” (DSM), has been developed for characterizing tire force distribution as related to treadwear in either normal tire use or in tire fleet testing in a convoy. The system consists of an accelerometer for monitoring lateral accelerations, a wheel revolution counter, and a module for signal processing and read-out. The output of the DSM is reduced to a single index, the Driving Severity Number (DSN), which characterizes a vehicle journey. The DSN is equal to the sum of squares of lateral acceleration measured once per tire revolution during a trip, divided by the number of wheel revolutions. The DSN had a high degree of correlation (R ≧ 0.95) with treadwear in two wear programs when pavement abrasiveness was held constant. This supports the concept that the three basic treadwear components: tire force distribution, pavement abrasiveness, and ambient temperature, can be separated for better understanding of tire treadwear.

scholarly journals Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 671
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Zhihong Li ◽  
Yunyi Jia
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Active Suspension ◽  
Path Tracking ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Advantages And Disadvantages ◽  
Predictive Controller

To improve the handling stability of automobiles and reduce the odds of rollover, active or semi-active suspension systems are usually used to control the roll of a vehicle. However, these kinds of control systems often take a zero-roll-angle as the control target and have a limited effect on improving the performance of the vehicle when turning. Tilt control, which actively controls the vehicle to tilt inward during a curve, greatly benefits the comprehensive performance of a vehicle when it is cornering. After analyzing the advantages and disadvantages of the tilt control strategies for narrow commuter vehicles by combining the structure and dynamic characteristics of automobiles, a direct tilt control (DTC) strategy was determined to be more suitable for automobiles. A model predictive controller for the DTC strategy was designed based on an active suspension. This allowed the reverse tilt to cause the moment generated by gravity to offset that generated by the centrifugal force, thereby significantly improving the handling stability, ride comfort, vehicle speed, and rollover prevention. The model predictive controller simultaneously tracked the desired tilt angle and yaw rate, achieving path tracking while improving the anti-rollover capability of the vehicle. Simulations of step-steering input and double-lane change maneuvers were performed. The results showed that, compared with traditional zero-roll-angle control, the proposed tilt control greatly reduced the occupant’s perceived lateral acceleration and the lateral load transfer ratio when the vehicle turned and exhibited a good path-tracking performance.

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.

Identification of Tire Model Parameters Through Full Vehicle Experimental Tests

2011 ◽  
Vol 133 (3) ◽  
Author(s):  
Francesco Braghin ◽  
Federico Cheli ◽  
Edoardo Sabbioni
Keyword(s):  
Laboratory Tests ◽  
Experimental Tests ◽  
Contact Forces ◽  
Lateral Acceleration ◽  
Design Stage ◽  
Model Parameters ◽  
Tire Model ◽  
Identification Procedure ◽  
Sideslip Angle ◽  
Tyre Model

Individual tire model parameters are traditionally derived from expensive component indoor laboratory tests as a result of an identification procedure minimizing the error with respect to force and slip measurements. These parameters are then transferred to vehicle models used at a design stage to simulate the vehicle handling behavior. A methodology aimed at identifying the Magic Formula-Tyre (MF-Tyre) model coefficients of each individual tire for pure cornering conditions based only on the measurements carried out on board vehicle (vehicle sideslip angle, yaw rate, lateral acceleration, speed and steer angle) during standard handling maneuvers (step-steers) is instead presented in this paper. The resulting tire model thus includes vertical load dependency and implicitly compensates for suspension geometry and compliance (i.e., scaling factors are included into the identified MF coefficients). The global number of tests (indoor and outdoor) needed for characterizing a tire for handling simulation purposes can thus be reduced. The proposed methodology is made in three subsequent steps. During the first phase, the average MF coefficients of the tires of an axle and the relaxation lengths are identified through an extended Kalman filter. Then the vertical loads and the slip angles at each tire are estimated. The results of these two steps are used as inputs to the last phase, where, the MF-Tyre model coefficients for each individual tire are identified through a constrained minimization approach. Results of the identification procedure have been compared with experimental data collected on a sport vehicle equipped with different tires for the front and the rear axles and instrumented with dynamometric hubs for tire contact forces measurement. Thus, a direct matching between the measured and the estimated contact forces could be performed, showing a successful tire model identification. As a further verification of the obtained results, the identified tire model has also been compared with laboratory tests on the same tire. A good agreement has been observed for the rear tire where suspension compliance is negligible, while front tire data are comparable only after including a suspension compliance compensation term into the identification procedure.

Self-Steering Characteristics of FSAE Vehicle with a Linear Bicycle Model

2021 ◽  
Vol 13 (3) ◽  
Author(s):  
Prashanth Barathan ◽  
R. Aakash ◽  
Hussain Akbar ◽  
Kapilesh Kathiresh
Keyword(s):  
Critical Speed ◽  
Accurate Prediction ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Angle Variation ◽  
Dynamic Conditions ◽  
Operating Range ◽  
Bicycle Model ◽  
Steering Characteristics

A FSAE car must exhibit precise and predictable handling behaviour since it is subject to driving manoeuvres in dynamic conditions. Therefore, an accurate prediction of its self-steering characteristics becomes vitally important, especially in the expected lateral acceleration operating range. The simulation implements a linear bicycle model of FSAE car in MATLAB and establishes the understeer gradient and the critical speed, thereby aiding the analysis of the steering wheel angle variation required to negotiate the corners of increasing dynamics.

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