Representing Truck Tire Characteristics in Simulations of Braking and Braking-in-a-Turn Maneuvers

Fancher, Paul S.; Bernard, J. E.; Clover, C.L.; Winkler, C B

doi:10.1080/00423119708969655

Cited by 16 publications

(18 citation statements)

References 3 publications

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“…Longitudinal load transfer is calculated according to the longitudinal accelerations of the vehicle bodies, while lateral load transfer also includes the dynamic effects of body roll. Tyre forces are calculated using Fancher's nonlinear, combined slip truck tyre model [18]. Equations of motion and parameters for the vehicle model are detailed in full in [19].…”

Section: Vehicle Modelmentioning

confidence: 99%

Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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'Slip control' braking has been shown to reduce the emergency stopping distance of an experimental heavy goods vehicle by up to 19%, compared to conventional electronic/anti-lock braking systems (EBS). However, little regard has been given to the impact of slip control braking on the vehicle's directional dynamics. This paper uses validated computer models to show that slip control could severely degrade directional performance during emergency braking. A modified slip control strategy, 'attenuated slip demand' (ASD) control, is proposed in order to rectify this. Results from simulations of vehicle performance are presented for combined braking and cornering manoeuvres with EBS and slip control braking with and without ASD control. The ASD controller enables slip control braking to provide directional performance comparable with conventional EBS while maintaining a substantial stopping distance advantage. The controller is easily tuned to work across a wide range of different operating conditions.

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Section: Vehicle Modelmentioning

confidence: 99%

Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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“…Sample adhesion-slip curves for dry asphalt and ice are shown in Figure 2 plotted using a model devised by Fancher [11]. As can be seen, the shape of the adhesion-slip curve can differ greatly depending on road conditions.…”

Section: Anti-lock Braking Systemsmentioning

confidence: 99%

“…Constant-pressure braking tests from 40km/h (11.11m/s) were used to fit appropriate Fancher adhesion-slip models [11]. The total estimated force (F x,total ) for each test was calculated using the following equation:…”

Section: Adhesion-slip Curve Estimationmentioning

confidence: 99%

“…Heavy vehicle ABS performance on wet pebble surface (µ peak =0.28) Figure 2. Sample adhesion-slip curves, showing slip-curve peak, plotted using the model presented by Fancher [11] Maximum adhesion force Average Brake Gain = 1.80kNm/bar P crack Figure 11. Adhesion force-slip curves [11] fitted against test results, 30km/h (8.33m/s), unladen Figure 12.…”

Section: Future Workmentioning

confidence: 99%

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Full-scale testing of a novel slip control braking system for heavy vehicles

Henderson

Cebon

2015

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper summarises the measured emergency braking performance of a tri-axle heavy goods vehicle (HGV) semitrailer fitted with a novel pneumatic slip-control braking system developed by the Cambridge Vehicle Dynamics Consortium (CVDC). Straight-line braking tests were carried out from 40km/h in order to compare a commercially available electropneumatic HGV trailer ABS system and the CVDC system, which has bi-stable valves coupled with a sliding mode slip controller. On average, the CVDC system reduced stopping distance and air use by 15% and 22% respectively compared to conventional ABS. The most significant improvements were seen on a wet basalt tile surface (with similar friction properties to ice) where stopping distance and air use were improved by 17% and 30% respectively. A third performance metric, mean absolute slip error (MSE), is introduced to quantify each braking system's ability to track a wheel slip demand. Using this metric, the bistable valve system is shown to improve wheel slip demand tracking by 62% compared to conventional ABS. This improvement potentially allows more accurate control of wheel forces during extreme manoeuvres, providing scope for the future development of advanced stability control systems.

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“…The physical models (also called brush model) are discussed in Refs. [7][8][9][10][11]. One basic approach of the physical model is to partition the tire/road contact patch into an adhesion region and a sliding region.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Physical-Dynamic Tire/Road Friction Model

Li¹,

Zhang²,

2012

Journal of Dynamic Systems, Measurement, and Control

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We present a hybrid physical-dynamic tire/road friction model for applications of vehicle motion simulation and control. We extend the LuGre dynamic friction model by considering the physical model-based adhesion/sliding partition of the tire/road contact patch. Comparison and model parameters relationship are presented between the physical and the LuGre dynamic friction models. We show that the LuGre dynamic friction model predicts the nonlinear and normal load-dependent rubber deformation and stress distributions on the contact patch. We also present the physical interpretation of the LuGre model parameters and their relationship with the physical model parameters. The analysis of the new hybrid model's properties resolves unrealistic nonzero bristle deformation and stress at the trailing edge of the contact patch that is predicted by the existing LuGre tire/road friction models. We further demonstrate the use of the hybrid model to simulate and study an aggressive pendulum-turn vehicle maneuver. The CARSIM simulation results by using the new hybrid friction model show high agreements with experiments that are performed by a professional racing car driver.

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Representing Truck Tire Characteristics in Simulations of Braking and Braking-in-a-Turn Maneuvers

Cited by 16 publications

References 3 publications

Combined emergency braking and turning of articulated heavy vehicles

Combined emergency braking and turning of articulated heavy vehicles

Full-scale testing of a novel slip control braking system for heavy vehicles

A Hybrid Physical-Dynamic Tire/Road Friction Model

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