A Review on Vehicle-Trailer State and Parameter Estimation

Korayem, Moharam Habibnejad; Khajepour, Amir; Fi̇dan, Barış

doi:10.1109/tits.2021.3074457

Cited by 25 publications

(11 citation statements)

References 176 publications

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“…Similar relations occur at the trailer axle, incorporating the hitch angle θ. Where according to Korayem et al (2022), the relation for θ is given in Equation 10.…”

Section: Tire Modelmentioning

confidence: 99%

“…Based on these identified driving maneuvers, the evaluation of a vehicle dynamics controller can be performed. Existing studies, according to Korayem et al (2022) point out the so-called "snaking" and "jack-knifing" as particularly critical situations in trailer systems. The phenomenon of "snaking" describes the swaying of the trailer due to lateral forces, especially on slippery surfaces.…”

Section: Introductionmentioning

confidence: 99%

“…The model of this research is based on the model presented by Korayem et al (2022), but extended by a longitudinal dynamics model as can be seen in Miller et al (2023b) and a detailed tire model. The tire model is based on a special tire for cargo bicycles measured and modeled according to Miller et al (2023a), which is implemented as a magic formula (MF) model according to Pacejka & Besselink (2012).…”

Section: Introductionmentioning

confidence: 99%

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Modeling of a Bicycle Cargo Trailer with Magic Formula Tire Model for Vehicle Dynamics Simulation

Miller,

Pfeil,

Kennel

et al. 2023

The Evolving Scholar - BMD 2023, 5th Edition

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In modern and sustainable concepts for supply chains, cargo bicycles, and cargo trailers can be a target-oriented solution in urban areas. However, drivers should be aware of the dynamics of these systems since, in the case of a loaded trailer, the trailer mass significantly exceeds the mass of the towing vehicle. However, the electrification of cargo trailers opens up the possibility of equipping these systems with an intelligent control system. This type of control system can be based on a model or tested using a model of the system. For this reason, the present research presents a single-track model of a bicycle-trailer system that considers longitudinal dynamics as well. In addition, a detailed tire model of a typical tire for cargo bikes is integrated. With the help of a prototype trailer, which forms the basis for the model’s parameters, measurement data is collected and compared with the simulation results. Within the scope of the comparison, speed, acceleration in longitudinal and lateral direction, hitch force, yaw rate, and the angle between the towing vehicle and trailer are compared in a longitudinal and lateral dynamic case. The presented model shows a good agreement with the reality in the longitudinal dynamic investigation regarding the tested scenarios. In terms of lateral dynamics, the model can reproduce a significant part of the measured data but exhibits minor differences related to environmental conditions, limited degrees of freedom, measurement errors, and the implementation of a needed driver model in this setup, which represents the human component. In the future, the model can be used to investigate the driving characteristics of bicycle-trailer systems. Furthermore, adding a model of the trailer powertrain and its control to the simulation can enable simulation-based design and testing of the required vehicle dynamics controller before implementation on a prototype.

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“…Similar relations occur at the trailer axle, incorporating the hitch angle θ. Where according to Korayem et al (2022), the relation for θ is given in Equation 10.…”

Section: Tire Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling of a Bicycle Cargo Trailer with Magic Formula Tire Model for Vehicle Dynamics Simulation

Miller,

Pfeil,

Kennel

et al. 2023

The Evolving Scholar - BMD 2023, 5th Edition

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show abstract

“…Articulated vehicles are widely used in transport for their economy, energy efficiency, environmental protection, and large transport capacity and are extensively investigated as urban public vehicles. [1][2][3][4][5][6][7][8] In this paper, a new articulated virtual rail train (AVRT) is investigated to improve the urban public transportation convenience and capacity, and the architecture is shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

Chen

Zhang

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this paper, an articulated virtual rail train running on an urban road with N-unit is introduced, and a new tracking control system is designed to realize the tracking control of the articulated virtual rail train. First, a dynamic model for the articulated virtual rail train with N-unit is derived with 11N degrees of freedom. Second, based on the dynamic model, a steering control system is designed, which includes the following sub-controllers: a unit 1 front-axle steering controller and a unit 1∼N rear-axle steering controller for approaching the virtual target path, a unit 2∼N front-axle steering controller for coordinating the movement of adjacent units, and a four-wheel-steering (4WS) controller for each unit. Finally, a numerical simulation model of the train with five units is built in MATLAB, and a cross-validation model is built in ADAMS software. The simulation and verification results show that the tracking errors are within 50 mm, and the lateral articulation forces are less than 2 kN, which indicates that the designed control system has a good tracking performance.

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“…This also includes the phenomena of snaking and jack-knifing. While, according to [5], snaking results from lateral forces pushing the trailer from one side to the other, jack-knifing is due to tire-ground interactions. In this case, especially during heavy braking or driving through a curved road, the transmissible force of the tire on the road becomes saturated, which can be triggered by the additional mass of the trailer to be braked.…”

Section: Introductionmentioning

confidence: 99%

Measurement and Modeling of a Cargo Bicycle Tire for Vehicle Dynamics Simulation

et al. 2023

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In the field of inner-city cargo transportation, solutions such as electrified cargo trailers are increasingly being used. To provide an intelligent drivetrain control system that improves driving dynamics and enables safety, it is necessary to know the characteristics of the trailer system. This includes the behavior of the tires. Existing investigations of bicycle tires focus on camber-angle-dependent models. However, in most trailers, a rigid mounting of the tires without camber is used. For this reason, a bicycle tire model is created within the scope of this study using real measurement data that represent a 20 in tire with typical wheel loads and without camber. The measurements were collected with the mobile tire measurement laboratory of the Bern University of Applied Sciences on an asphalt test site under real conditions. Crosstalk occurring in the measurement hub during the data collection was successfully corrected using a matrix method. With help of the so-called Magic Formula, a tire model was created that can be used for driving dynamics simulations and controller design.

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A Review on Vehicle-Trailer State and Parameter Estimation

Cited by 25 publications

References 176 publications

Modeling of a Bicycle Cargo Trailer with Magic Formula Tire Model for Vehicle Dynamics Simulation

Modeling of a Bicycle Cargo Trailer with Magic Formula Tire Model for Vehicle Dynamics Simulation

A tracking control method for articulated virtual rail train with N-unit based on the dynamic model

Measurement and Modeling of a Cargo Bicycle Tire for Vehicle Dynamics Simulation

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