Parameter and State Estimation in Vehicle Roll Dynamics

Rajamani, Rajesh; Piyabongkarn, D.; Tsourapas, Vasilios; Lew, J.Y.

doi:10.1109/tits.2011.2164246

Cited by 94 publications

(54 citation statements)

References 7 publications

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“…In addition, a rollover index was used to indicate rollover danger, which was computed using measured lateral acceleration and yaw rate estimated roll angle and roll rate. Rajamani et al [4,5] proposed a sensor fusion algorithm based on a 3-DOF vehicle roll model to estimate roll angle and center of gravity (C.G.) height.…”

Section: Introductionmentioning

confidence: 99%

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Wang

Dong

et al. 2017

Applied Sciences

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Considering the importance of increasing driving safety, the study of safety is a popular and critical topic of research in the vehicle industry. Vehicle roll behavior with sudden steering input is a main source of untripped rollover. However, previous research has seldom considered road excitation and its coupled effect on vehicle lateral response when focusing on lateral and vertical dynamics. To address this issue, a novel method was used to evaluate effects of varying road level and steering wheel input on vehicle roll behavior. Then, a 9 degree of freedom (9-DOF) full-car roll nonlinear model including vertical and lateral dynamics was developed to study vehicle roll dynamics with or without of road excitation. Based on a 6-DOF half-car roll model and 9-DOF full-car nonlinear model, relationship between three-dimensional (3-D) road excitation and various steering wheel inputs on vehicle roll performance was studied. Finally, an E-Class (SUV) level car model in CARSIM ® was used, as a benchmark, with and without road input conditions. Both half-car and full-car models were analyzed under steering wheel inputs of 5 • , 10 • and 15 • . Simulation results showed that the half-car model considering road input was found to have a maximum accuracy of 65%. Whereas, the full-car model had a minimum accuracy of 85%, which was significantly higher compared to the half-car model under the same scenario.

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Section: Introductionmentioning

confidence: 99%

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Wang

Dong

et al. 2017

Applied Sciences

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“…Many approaches use a combination of RLS and Kalman Filtering methods to simultaneously estimate road gradient and vehicle mass, including Raffone [8] and Vahidi [14]. Nonlinear observer structures are also used, by the current authors [9] [10] [15] [7] and by McIntyre [16] and Rajamani [17].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Simulation of Rapidly Changing Road Gradients

Wragge-Morley¹,

Herrmann²,

Burgess³

et al. 2016

SAE Int. J. Passeng. Cars - Mech. Syst.

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In vehicle dynamics modelling, the road profile is generally treated in one of two ways; either the gradient is a property that changes over a length scale far greater than that of the vehicle's wheelbase, or as a very detailed road surface model for determining the behaviour of vehicle suspensions. Occasionally, for modelling the behaviour of off-road vehicles, step-climbing manoeuvres are modelled. We propose an extension of these step-climbing models to a general, continuously varying road gradient model for cases where the distance over which the large gradient change occurs are of similar length-scale as the vehicle wheelbase. The motivation behind this work comes from a road gradient and vehicle mass estimation problem where it was noticed that very sudden gradient changes have a significant impact on the powertrain, but in a way that is not proportional to the attitude change of the vehicle. We present an analysis applicable to these cases where the road gradient change is substantially different from the vehicle attitude change. The analysis is built up from a very basic step climbing exercise to a general case solution for two dimensional longitudinal vehicle dynamics. Methods of handling road gradient and gradient change for modelling purposes are discussed. A method is proposed that defines the gradient change as an input to a backwards dynamic model that allows us to compute torque required to achieve a pre-defined datum speed during a gradient transition. The results of simulations for simple gradient change cases are shown. We discuss the implication of these road gradient transients for vehicle parameter estimation based on powertrain behaviour.

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“…However, the author stated that there is no simple method exists for directly measuring the normal wheel loads. In order to solve this problem, several studies [1] [4][5][6][7] have been conducted to obtain implementable version of the LTR index. Reference [7] developed algorithms to estimate state and parameters of a vehicle for reliable computation of the LTR index.…”

mentioning

confidence: 99%

“…In order to solve this problem, several studies [1] [4][5][6][7] have been conducted to obtain implementable version of the LTR index. Reference [7] developed algorithms to estimate state and parameters of a vehicle for reliable computation of the LTR index. The investigated algorithms include a sensor fusion algorithm that utilizes a low-frequency tilt angle sensor and a gyroscope, and a nonlinear dynamic observer that utilizes only a lateral accelerometer and a gyroscope.…”

mentioning

confidence: 99%

Estimation of LTR rollover index for a high-sided tractor semitrailer vehicle under extreme crosswind conditions through dynamic simulation

Abdulwahab

Mishra

2017

2017 23rd International Conference on Automation and Computing (ICAC)

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Estimation of LTR rollover index for a highsided tractor semitrailer vehicle under extreme crosswind conditions through dynamic simulation Original CitationAbdulwahab, Abubaker and Mishra, Rakesh (2017) Estimation of LTR rollover index for a high sided tractor semitrailer vehicle under extreme crosswind conditions through dynamic simulation. In: 23rd International Conference on Automation and Computing (ICAC 2017). IEEE. ISBN 9780 701702601This version is available at http://eprints.hud.ac.uk/id/eprint/33343/ The University Repository is a digital collection of the research output of the University, available on Open Access. Copyright and Moral Rights for the items on this site are retained by the individual author and/or other copyright owners. Users may access full items free of charge; copies of full text items generally can be reproduced, displayed or performed and given to third parties in any format or medium for personal research or study, educational or notforprofit purposes without prior permission or charge, provided:• The authors, title and full bibliographic details is credited in any copy;• A hyperlink and/or URL is included for the original metadata page; and • The content is not changed in any way.For more information, including our policy and submission procedure, please contact the Repository Abstract-Lateral load transfer ratio (LTR) is a criterion thatis often used for designing ground vehicle rollover warning technologies to indicate the vehicles rollover status. Generally, LTR index depends on road geometry and vehicle characteristics. However, crosswind loads have the potential to influence the roll stability and therefore the safety of road vehicles particularly large commercial units. This study provides improved methodology for the computation of the LTR index for a high-sided tractor semitrailer vehicle under crosswind conditions. For this purpose, since experiments on real vehicles for active safety technology are difficult to carry out, a coupled simulation of transient crosswind aerodynamics and multi-body vehicle dynamics has been proposed. Based on CFD method, a large-eddy simulation (LES) technique was employed to predict the transient crosswind aerodynamic forces. Then, the predicted aerodynamic forces were input into multi-body dynamic simulations of the tractor semi-trailer vehicle that were performed through ADAMS/Car software. Simulation results show that comparing to the traditional LTR index, the LTR under crosswind is more efficient to detect manoeuvre-induced rollovers. This trailer rollover indicator that has been improved by the proposed methodology can provide more reliable information to the warning or control system in the presence of wind conditions.

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Parameter and State Estimation in Vehicle Roll Dynamics

Cited by 94 publications

References 7 publications

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Modelling and Simulation of Rapidly Changing Road Gradients

Estimation of LTR rollover index for a high-sided tractor semitrailer vehicle under extreme crosswind conditions through dynamic simulation

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