0
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.

References

Van Zanten, A. T., Erhardt, R., Pfaff, G., Kost, F., Hartmann, U., and Ehert, T., 1996, “Control Aspects of the Bosch-VDC,” 3rd International Symposium on Advanced Vehicle Control: AVEC2000, Aachen, Germany, pp. 573–608.
Zhu, H.-J., Li, L., Jin, M.-J., Li, H.-Z., and Song, J., 2013, “Real-Time Yaw Rate Prediction Based on a Non-Linear Model and Feedback Compensation for Vehicle Dynamics Control,” Proc. Inst. Mech. Eng., Part D, 227(10), pp. 1431–1445. [CrossRef]
Soudbakhsh, D., Eskandarian, A., and Chichka, D., 2013, “Vehicle Collision Avoidance Maneuvers With Limited Lateral Acceleration Using Optimal Trajectory Control,” ASME J. Dyn. Syst. Meas. Control, 135(4), p. 041006. [CrossRef]
Singh, K. B., Arat, M. A., and Taheri, S., 2013, “An Intelligent Tire Based Tire-Road Friction Estimation Technique and Adaptive Wheel Slip Controller for Antilock Brake System,” ASME J. Dyn. Syst. Meas. Control, 135(3), p. 031002. [CrossRef]
Goodarzi, A., Diba, F., and Esmailzadeh, E., 2014, “Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control,” ASME J. Dyn. Syst. Meas. Control, 136(5), p. 051026. [CrossRef]
Junmin, W., and Longoria, R. G., 2009, “Coordinated and Reconfigurable Vehicle Dynamics Control,” IEEE Trans. Control Syst. Technol., 17(3), pp. 723–732. [CrossRef]
Zhibin, S., Hui, Z., Junmin, W., Li, J., and Ouyang, M., 2014, “AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles Over CAN Network With Time-Varying Delays,” IEEE Trans. Veh. Technol., 63(2), pp. 591–602. [CrossRef]
Ray, A., and Halevi, Y., 1988, “Integrated Communication and Control Systems: Part II—Design Considerations,” ASME J. Dyn. Syst. Meas. Control, 110(4), pp. 374–381. [CrossRef]
Yoon, J., Kim, D., and Yi, K., 2007, “Design of a Rollover Index-Based Vehicle Stability Control Scheme,” Veh. Syst. Dyn., 45(5), pp. 459–475. [CrossRef]
Yoshiki, F., 1999, “Slip-Angle Estimation for Vehicle Stability Control,” Veh. Syst. Dyn., 32(4–5), pp. 375–388. [CrossRef]
Liang, L., Gang, J., Xu, R., Song, J., and Kaihui, W., 2014, “A Variable Structure Extended Kalman Filter for Vehicle Sideslip Angle Estimation on a Low Friction Road,” Veh. Syst. Dyn., 52(2), pp. 280–308. [CrossRef]
Nam, K., Oh, S., Fujimoto, H., and Hori, Y., 2013, “Estimation of Sideslip and Roll Angles of Electric Vehicles Using Lateral Tire Force Sensors Through RLS and Kalman Filter Approaches,” IEEE Trans. Ind. Electron., 60(3), pp. 988–1000. [CrossRef]
Dahmani, H., Chadli, M., Rabhi, A., and Hajjaji, A. E., 2013, “Vehicle Dynamic Estimation With Road Bank Angle Consideration for Rollover Detection: Theoretical and Experimental Studies,” Veh. Syst. Dyn., 51(12), pp. 1853–1871. [CrossRef]
Tafner, R., Reichhartinger, M., and Horn, M., 2014, “Robust Online Roll Dynamics Identification of a Vehicle Using Sliding Mode Concepts,” Control Eng. Pract., 29(2014), pp. 235–246. [CrossRef]
Kalman, R. E., 1960, “A New Approach to Linear Filtering and Prediction Problems,” ASME J. Fluid Eng., 82(1), pp. 35–45. [CrossRef]
Julier, S. J., and Uhlmann, J. K., 1997, “A New Extension of the Kalman Filter to Nonlinear Systems,” Proc. SPIE, 3068, pp. 182–193.
Wan, E. A., and Van Der Merwe, R., 2000, “The Unscented Kalman Filter for Nonlinear Estimation,” Adaptive Systems for Signal Processing, Communications, and Control Symposium (AS-SPCC), Lake Louise, AB, Canada, pp. 153–158. [CrossRef]
Kreuzer, E., Pick, M. A., Rapp, C., and Theis, J., 2014, “Unscented Kalman Filter for Real-Time Load Swing Estimation of Container Cranes Using Rope Forces,” ASME J. Dyn. Syst. Meas. Control, 136(4), p. 041009. [CrossRef]
Kandepu, R., Foss, B., and Imsland, L., 2008, “Applying the Unscented Kalman Filter for Nonlinear State Estimation,” J. Process Control, 18(7), pp. 753–768. [CrossRef]
Doumiati, M., Victorino, A. C., Charara, A., and Lechner, D., 2011, “Onboard Real-Time Estimation of Vehicle Lateral Tire–Road Forces and Sideslip Angle,” IEEE/ASME Trans. Mechatronics, 16(4), pp. 601–614. [CrossRef]
Hamann, H., Hedrick, J. K., Rhode, S., and Gauterin, F., 2014, “Tire Force Estimation for a Passenger Vehicle With the Unscented Kalman Filter,” IEEE Intelligent Vehicles Symposium, Dearborn, MI, June 8–11, pp. 814–819. [CrossRef]
Antonov, S., Fehn, A., and Kugi, A., 2011, “Unscented Kalman Filter for Vehicle State Estimation,” Veh. Syst. Dyn., 49(9), pp. 1497–1520. [CrossRef]
Yi, K., Yoon, J., and Kim, D., 2007, “Model-Based Estimation of Vehicle Roll State for Detection of Impending Vehicle Rollover,” American Control Conference, New York, July 9–13, pp. 1624–1629. [CrossRef]
Rajamani, R., Piyabongkarn, D., Tsourapas, V., and Lew, J. Y., 2011, “Parameter and State Estimation in Vehicle Roll Dynamics,” IEEE Trans. Int. Transp. Syst., 12(4), pp. 1558–1567. [CrossRef]
Pacejka, H. B., and Bakker, E., 1992, “The Magic Formula Tyre Model,” Veh. Syst. Dyn., 21(S1), pp. 1–18. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

The whole structure of vehicle states estimation method

Grahic Jump Location
Fig. 2

Yaw-plane vehicle dynamics model

Grahic Jump Location
Fig. 3

Vehicle roll dynamics model when there is no wheel lift

Grahic Jump Location
Fig. 4

Vehicle roll dynamics model when a rear wheel lifts off

Grahic Jump Location
Fig. 5

Individual wheel speed responses of the vehicle

Grahic Jump Location
Fig. 6

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

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
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)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In