Kraftfahrzeugtechnik

Fiala, Ernst

doi:10.1007/978-3-662-06778-9_16

Cited by 4 publications

(3 citation statements)

References 2 publications

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“…The vehicle model dealt with in this paper incorporates elements of the tire dynamics as uncertainties. The brush tire model presented in [10] assumes a parabolic pressure distribution on the contact patch whose rubber dynamics has reached steady-state. Under such conditions, the lateral force for a given tire i becomes a direct function of the slip angle (α i ).…”

Section: Tire and Vehicle Modelsmentioning

confidence: 99%

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Massera,

Santos,

Terra

et al. 2020

Preprint

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The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based guaranteed cost model predictive controller for autonomous vehicles able to avoid front and rear tire saturation and to track a provided reference trajectory up to the limits of handling of the vehicle. Such an approach ensures the vehicle will remain within its safe operational envelope; therefore, guaranteeing both stability and performance of the vehicle, including highly dynamic maneuvers that may be necessary for emergency conditions. We also propose a new conservative approximation of the nonlinear vehicle dynamics to a linear system subject to normbounded multiplicative uncertainties and a new maximal robust controllable invariant set for vehicle dynamics. It consists of a larger feasible state space region when compared to previously proposed invariant sets. Finally, we present both simulation and in-vehicle results of the performance of the proposed approach.

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Section: Tire and Vehicle Modelsmentioning

confidence: 99%

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Massera,

Santos,

Terra

et al. 2020

Preprint

View full text Add to dashboard Cite

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“…There are three categories of models capable of representing the tire dynamics on saturation situations: Finite element analysis [9] [11]; Empirical data approximation, such as the "Magic Tire Formula" [16]; and the dynamical approximation of the tire by a "brush" model, first proposed by Fiala [6]. The third technique, provides a good compromise between its ability to describe tires physical properties and its complexity, since it assumes that tires are always at steady state and tire transients are faster than chassis transients.…”

Section: Tire Modelmentioning

confidence: 99%

Guaranteed Cost Model Predictive Control-based Driver Assistance system for vehicle stabilization under tire parameters uncertainties

Massera¹,

Terra²,

Wolf³

2016

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)

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Abstract-Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an alternative to mitigate such accidents. This technology enables the decoupling of the front wheel steering angles from the driver hand wheel angle and, consequently, the measurement of road/tire friction limits and the development of novel control systems capable of ensuring vehicle stabilization and safety. However, vehicle safety boundaries are highly dependent on tire characteristics which vary significantly with temperature, wear and the tire manufacturing process. Therefore, design of autonomous vehicle and driver assistance controllers cannot assume that these characteristics are constant or known. Thus, this paper proposes a Guaranteed Cost Model Predictive Controller Driver Assistance System able to avoid front and rear tire saturation and to track the drivers intent up to the limits of handling for a vehicle with uncertain tire parameters. Simulation results show the performance of the proposed approach under time-varying uniformly distributed disturbances.

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“…There are three categories of models capable of representing the tire dynamics on saturation situations: finite element analysis (HELNWEIN et al, 1993)-(KOISHI;KABE;SHIRATORI, 1998); empirical data approximation, such as the "Magic Tire Formula" (PACEJKA; BAKKER, 1992); and the dynamical approximation of the tire by a "brush" model, first proposed by Fiala (FIALA, 1987). The third technique provides a good compromise between its ability to describe tires physical properties and its complexity; since it assumes that tires are always at steady state and tire transients are faster than chassis transients.…”

Section: Tire Modelsmentioning

confidence: 99%

Guaranteed cost model predictive control approaches for linear systems subject to multiplicative uncertainties with applications to autonomous vehicles

Filho¹,

Magalhães²

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Agradeço aos professores Marco Henrique Terra e Valdir Grassi Júnior pelo apoio no desenvolvimento da teoria de controle e sua respectiva aplicação para o veículo. Agradeço aos amigos e colegas do laboratório, em especial ao Tiago, Patrick, Francisco, Diego, e Daniela pelo apoio nos trabalhos presentes e não presentes nessa tese e todos os aprendizados e momentos ao longo desses anos. Agradeço também aos amigos e colegas de trabalho, tanto na Apple quanto na Lyft, pelas diversas discussões que contribuíram para o aprimoramento do meu conhecimento em controle e robótica, em especial ao Abhijit, Miroslav, Eric, Timothée, Gabe, e Sammy. Agradeço ao Laboratório de Robótica Móvel e ao Instituto de Ciências Matemáticas e de Computação pela oportunidade e apoio no desenvolvimento desse trabalho. Agradeço também ao CNPq, FIPAI, e FAPESP pelo apoio financeiro dessa pesquisa e do projeto. "There is nothing so practical as a good theory" (Ludwig Boltzmann

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Kraftfahrzeugtechnik

Cited by 4 publications

References 2 publications

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling

Guaranteed Cost Model Predictive Control-based Driver Assistance system for vehicle stabilization under tire parameters uncertainties

Guaranteed cost model predictive control approaches for linear systems subject to multiplicative uncertainties with applications to autonomous vehicles

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