A Review of Estimation for Vehicle Tire-Road Interactions Toward Automated Driving

Guo, Hongyan; Yin, Zhenyu; Cao, Dongpu; Chen, Hong; Lv, Chen

doi:10.1109/tsmc.2018.2819500

Cited by 80 publications

(39 citation statements)

References 122 publications

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“…It is well known that the accurate knowledge of tire forces are critical for the estimation of vehicle motion states. 26 For the conventional acquirement methods of longitudinal tire forces, the integral or derivate of wheel speed is often utilized as parts of the input signal. However, the noise in the acquirement process would be contaminated by the integral behavior, and the derivate action could cause the wild fluctuation of the obtained states above or below their true values.…”

Section: Observation Of Longitudinal Tire Forcesmentioning

confidence: 99%

A cascaded scheme for high-performance estimation of vehicle states

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Vehicle active safety control is bonded tightly with the accurate acquirement of vehicle states. This paper presents a cascaded scheme to realize high-performance estimation of vehicle states. To achieve the estimation with good performance, an adaptive sliding mode observer is designed for determining four longitudinal tire forces independently, and the Kalman filter is used for alleviating the inherent chattering effect. On this basis, lateral tire forces are calculated via a simplified formula based on the Dugoff tire model. Lastly, utilizing the obtained tire force information, the key states of vehicle motion are estimated through the smooth variable structure filter. Numerical experiments are conducted to testify the effectiveness of the presented estimation scheme. The results of performance comparison in different case studies show that the chattering effect can be suppressed to a great extent, and the accuracy, robustness and real-time performance to modeling uncertainty and unexpected measurements can be effectively guaranteed for vehicle state estimation by means of the proposed scheme.

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Section: Observation Of Longitudinal Tire Forcesmentioning

confidence: 99%

A cascaded scheme for high-performance estimation of vehicle states

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Magic formula is introduced to express the tyre forces [29]:

({, \begin{matrix} F_{x}^{*} = μ D_{x} \sin falsefalse{C_{x} \arctan false[B_{x} λ false(1 - E_{x} false) + E_{x} \arctan false(B_{x} λ false) false] falsefalse} \\ F_{y}^{*} = μ D_{y} \sin falsefalse{C_{y} \arctan false[B_{y} α false(1 - E_{y} false) + E_{y} \arctan false(B_{y} α false) false] falsefalse} \end{matrix})

where

α

is the tyre slip angle,

λ

is the slip ratio,

B_{x}

C_{x}

D_{x}

E_{x}

B_{y}

C_{y}

D_{y}

, and

E_{x}

are coefficients, whose definitions can be found in [30, 31].…”

Section: System Modellingmentioning

confidence: 99%

Coordinated control of steer‐by‐wire and brake‐by‐wire for autonomous emergency braking on split‐μ roads

Xue

Wang

et al. 2020

IET intell. transp. syst

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Autonomous emergency braking (AEB) is an active safety technology which aims to prevent collisions by operating harsh braking. When AEB is activated on split-μ roads, the yaw moment generated by the asymmetric braking forces will lead to losing control of the vehicle. In this study, a coordinated control scheme of steer-by-wire (SBW) and brake-by-wire (BBW) is developed to solve this problem. An anti-lock braking system is achieved by a sliding mode controller. Besides, two model predictive controllers based on a 7-degree-of-freedom vehicle dynamics model are proposed for different road adhesion conditions. According to the simulation results, the proposed scheme can maintain the stability of the vehicle and achieve a satisfying braking efficiency under various friction differences between the two-side wheels. At last, the experiments are also carried out to verify the effectiveness and the real-time performance of the proposed scheme on a hardware-in-loop bench of BBW and SBW.

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“…In recent years, the vehicle platoon control has received substantially increasing interests in the intelligent transportation system [1][2][3] due to its significant advantages in reducing traffic jams, improving the traffic safety, and increasing traffic capacity [4][5][6]. Generally, the objective of the vehicle platoon control is to drive a group of vehicles into a desired platoon from arbitrary initial positions.…”

Section: Introductionmentioning

confidence: 99%

Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

et al. 2020

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This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy (QSP) is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy (CTHP), the QSP is more suitable to the human driving behaviors (HDB) and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode (DISM). Since the external disturbances are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches.

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A Review of Estimation for Vehicle Tire-Road Interactions Toward Automated Driving

Cited by 80 publications

References 122 publications

A cascaded scheme for high-performance estimation of vehicle states

A cascaded scheme for high-performance estimation of vehicle states

Coordinated control of steer‐by‐wire and brake‐by‐wire for autonomous emergency braking on split‐μ roads

Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

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