Technical Brief

Model-Based Estimation for Vehicle Dynamics States at the Limit Handling

[+] Author and Article Information
Gang Jia

The State Key Laboratory
of Automotive Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: xibei08@hotmail.com

Liang Li

Associate Professor
The State Key Laboratory
of Automotive Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: liangl@mail.tsinghua.edu.cn

Dongpu Cao

Associate Professor
The Center for Automotive Engineering,
Cranfield University,
Cranfield MK430AL, UK
e-mail: d.cao@cranfield.ac.uk

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 29, 2014; final manuscript received June 3, 2015; published online July 14, 2015. Assoc. Editor: Shankar Coimbatore Subramanian.

J. Dyn. Sys., Meas., Control 137(10), 104501 (Oct 01, 2015) (8 pages) Paper No: DS-14-1551; doi: 10.1115/1.4030784 History: Received December 29, 2014; Revised June 03, 2015; Online July 14, 2015

This technical brief proposes a new model-based estimation method for the vehicle sideslip angle, yaw rate, roll angle, and roll rate using unscented Kalman filter (UKF). Since a vehicle wheel could potentially lift off the ground during the limit handling, a switched vehicle roll dynamics model (wheel lift and no wheel lift) is developed and integrated within the proposed model-based estimation approach considering the availability of wheel speed sensor. The simulation results and analyses demonstrate the performance enhancement of the proposed estimation method over the method not considering wheel lift during the limit handling.

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Fig. 1

The whole structure of vehicle states estimation method

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Fig. 2

Yaw-plane vehicle dynamics model

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Fig. 3

Vehicle roll dynamics model when there is no wheel lift

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Fig. 4

Vehicle roll dynamics model when a rear wheel lifts off

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Fig. 5

Individual wheel speed responses of the vehicle

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Fig. 6

The results of sinusoidal test with 90 deg steering angle, 90 km/hr initial velocity, and 0.8 friction coefficient

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Fig. 7

The results of sinusoidal test with 40 deg steering angle, 85 km/hr initial velocity, and 0.4 friction coefficient

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Fig. 8

The results of sinusoidal test with 90 deg steering angle, 80 km/hr initial velocity, and 1.0 friction coefficient (wheel lift state: 1 = front left, 2 = front right, 3 = rear left, 4 = rear right, and 0 = no wheel lift)




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