Feel-tire Unina: Development and Modeling of a Sensing System for Intelligent Tires

Breglio, Giovanni; Irace, Andrea; Marrazzo, Vincenzo Romano; Riccio, Michele; Romano, Luigi; Strano, Salvatore; Terzo, Mario

doi:10.1109/rtsi.2019.8895537

Cited by 10 publications

(12 citation statements)

References 12 publications

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“…where q k and r k are the white process and observation noises with covariance matrices Q k and R k , respectively. It is worth emphasising that the assumption on the nature of the Gaussian noise is quite strong, but is legitimated by some results already known from an experimental campaign aready conducted by the authors in some previous works, 31 where a good agreement between the measured data and the model output was attained after applying standard filtering techniques based on the same assumption.…”

Section: Observer Designmentioning

confidence: 99%

“…These technologies are being successfully used to empirically correlate the circumferential strain of the treadband with many tyre features, including rolling speed, contact patch lentgh and adhesion portion, hydroplaning portion, vertical and longitudinal loads transmitted to the wheel hub. A first functional prototype, based on a full-physical model, has been instead proposed by the authors Romano et al and Breglio et al 30,31 The intelligent tyre concept was equipped with a flex sensor which measured the bending curvature at the tyre inner radius; this kind of signal can be easily related to equation (9) and eventually transformed backward into a voltage output. 31 According to Romano et al, 30 the strain function can be defined as…”

Section: Observer Designmentioning

confidence: 99%

“…More recently, instead, a complete state estimator was introduced by Romano et al and Breglio et al 30,31 In the authors’ knowledge, the latter investigation represents the sole technology fully based on a dynamic tyre model including inertial and viscoelastic properties.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we extend the intelligent tyre prototype already introduced by Romano et al and Breglio et al 30,31 by comparing the performance of three different observers. More specifically, whilst in the previous implementation only strain signals were considered, here we investigate the performance of three different concepts: strain, displacement and acceleration-based intelligent tyre systems.…”

Section: Introductionmentioning

confidence: 99%

“…Indeed, observers can be designed depending on the available signals which can be in turn used as input for the state estimation. Since different measurement approaches have been proposed in literature, it comes spontaneously to enlarge the model-based approach already proposed by Romano et al and Breglio et al 30,31 to cover all the possible variants.…”

Section: Introductionmentioning

confidence: 99%

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Synthesis and comparative analysis of three model-based observers for normal load and friction estimation in intelligent tyre concepts

Romano

Strano

Terzo

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Recently, the growing trends towards autonomous driving and full automation of terrestrial vehicles have intensified the need for intelligent and interconnected systems to collect and communicate reliable data in real-time. Since the tyres represent the primary sensing system between the vehicle and the ground, it comes natural to designate them to acquire information about their interaction with the road. Intelligent or smart tyre technologies can, indeed, be used to estimate both vehicle’s performance and environmental conditions, leading to handling, NVH and comfort improvements. Inspired by some encouraging results found in previous works, in this investigation we present three model-based estimators to detect the forces acting in the contact patch for an intelligent tyre. The underlying mathematical foundation is the Flexible Ring Tyre Model (FRM), which is able to describe the in-plane dynamics of intelligent tyre systems. More specifically, it represents the tyre treadband by means of a flexible ring restrained at its mean radius by a viscoelastic foundation. Due to its relatively simplicity, the FRTM allows to obtain a closed-form solution for the treadband displacements, accelerations and circumferential strain, whilst being accurate enough to capture all the relevant phenomena concerning the tyre dynamics. The governing Partial Differential Equations (PDEs) of the system are reduced to a set of coupled Ordinary Differential Equations (ODEs) by performing the Fourier series expansion. An optimal observer is then designed based on the Unscented Kalman Filter to account for the nonlinearities which arise when the vertical load acting on the tyre and the friction coefficient are included in the augmented state space representation. The three different technologies considered in this study are: strain, displacement, and acceleration-based intelligent tyres. All of them are shown to be capable of estimating the quantities of interest – the actual state of the system, the normal force and the adhesion coefficient – with high accuracy in very short times. Furthermore, the robustness of the proposed approach is validated by considering a step variation in both the vertical load and the available friction. The performances of the observers are finally compared by using the RSS and MSE indices.

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