A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models

Hashemi, Ehsan; Pirani, Mohammad; Khajepour, Amir; Kasaiezadeh, Alireza

doi:10.1080/00423114.2016.1232417

Cited by 30 publications

(8 citation statements)

References 28 publications

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“…They are incorporated into the lateral dynamics to estimate vehicle states and analyze the vehicle stability on different roads (see refs. ). Tire curves are represented by three regions including linear, transient, and nonlinear defined by road friction coefficient, normal forces, and cornering stiffness.…”

Section: Tire Models and Force Estimationmentioning

confidence: 97%

Tire Condition Monitoring and Intelligent Tires Using Nanogenerators Based on Piezoelectric, Electromagnetic, and Triboelectric Effects

Argani

Hashemi

Khajepour

et al. 2018

Adv Materials Technologies

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With the prospect of autonomous driving on roads in near future, it is paramount to make the vehicles safe on any driving and road condition. This is only possible by additional sensors to make up for the driver's cognitive and sensory system. Measuring road condition and tire forces especially in autonomous vehicles are vital in their safety, reliability, and public confidence in automated driving. Real time measurement of road condition and tire forces in buses and trucks can significantly improve the safety of road transportation system, and in miming/construction and off-road vehicles can improve performance, tire life, and reduce operational costs.There are three particular branches of research in the area of tire condition monitoring systems (TCMS) including estimation, sensing, and power harvesting. The main focus of this review article would be on progress in estimation techniques, energy harvesting, and also sensing approaches for TCMS based on piezoelectric, electromagnetic, and triboelectric nanogenerators (TENGs). Indeed, the fusion of these three areas in a singular package leads to designing future intelligent tires. The implementation of intelligent tires is highly advantageous for reduction of disastrous accidents,CO 2 , and noise emissions, and also fuel consumption. Figure 1 depicts an intelligent tire with its basic parts, its crucial applications, and advantages. In Figure 1, NGs, PEGs, and EMGs refer to nanogenerators, piezoelectric nanogenerators, and electromagnetic generators, respectively.Advances in applications of sensor technologies, sensor fusion, and cooperative estimation in intelligent transportation systems facilitate having reliable tire forces. Consequently, developing a flexible estimation structure to operate the available sensor data in production vehicles is a preeminent objective of the car manufacturers. In this direction, reliable estimation of tire forces at a reasonable cost is necessary for proper functioning of active safety systems in current vehicles. Longitudinal, lateral, and vertical tire forces make major contributions to velocity estimation, [3] traction and stability control, [4,5] and obstacle avoidance systems. [6,7] This article provides a comprehensive review on intelligent tire and TCMS. The first part of the article describes tire models, techniques for tire force, and tire-road friction The quest to utilize intelligent tires has prompted substantial multidisciplinary research including vehicle dynamics, control, estimation, energy harvesting, and even nanotechnology. This review article presents the progress in the area of tire condition monitoring systems (TCMS) and intelligent tires using devices fabricated based on piezoelectric, electromagnetic, and triboelectric effects. Three main branches of the research in this area are presented, including estimation techniques, sensing, and energy harvesting approaches. The authors delineate the importance of TCMS for vehicle active safety systems, its importance for transportation safety, and also its remarka...

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Section: Tire Models and Force Estimationmentioning

confidence: 97%

Tire Condition Monitoring and Intelligent Tires Using Nanogenerators Based on Piezoelectric, Electromagnetic, and Triboelectric Effects

Argani

Hashemi

Khajepour

et al. 2018

Adv Materials Technologies

Self Cite

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“…The load transfer model considers both longitudinal and lateral load transfer which requires longitudinal and lateral acceleration of the vehicle, as shown in Eqs. (9) to (12). The load transfer model is divided into three parts: static force, longitudinal load transfer and lateral load transfer.…”

Section: Load Transfer Modelmentioning

confidence: 99%

“…The tire model is used to determine the lateral and longitudinal forces acting on each wheel. Tire models such as magic formula [8], LuGre [9] and Dugoff's tire model [2] are few of the commonly used models. Furthermore, most of the tire models are dependent on the vehicle vertical force acting ( N z ) on each tire.…”

Section: Introductionmentioning

confidence: 99%

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

et al. 2020

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Autonomous vehicle is gaining popularity in the market worldwide. Most autonomous vehicle are based on electric vehicles since they are easy to control. The torque control of electric vehicles is precise and easy since electric motor torque can be manipulated by controlling the motor current. Furthermore, the load of the vehicle affects the motor torque of an electric vehicle. A higher vehicle load requires high motor torque to propel the vehicle. Often in autonomous vehicle, the vehicle parameters and stability measure are set within a limit based on standard vehicle settings. However, a vehicle loaded with extra mass on either side can offset these parameters affecting the efficiency of the controller. Thus, in this paper the effect of load on vehicle longitudinal and lateral forces is identified. A simulation model of a two rear in-wheel motored electric vehicle is developed. The model is used to analyze the effect of load on vehicle longitudinal and lateral forces. Based on the result, increasing the load on the side of direction of lateral motion increases the lateral force generated. The high lateral force causes the tires to approach the tire friction circle limit. This can affect the automated vehicle performance since the tires are in unstable region.

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“…The effect of pure and combined-slip LuGre tire models in the vehicle stability is explored in [20]. The parameter θ ∈ [0, 1] in (1) represents the road condition which is small when the road is slippery and it is close to 1 otherwise.…”

Section: Velocity Estimation At Each Cornermentioning

confidence: 99%

Resilient Corner-Based Vehicle Velocity Estimation

Pirani

Hashemi

Khajepour

et al. 2018

IEEE Trans. Contr. Syst. Technol.

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Abstract-This paper presents longitudinal and lateral velocity estimators by considering the effect of the suspension compliance at each corner (tire) for ground vehicles. The estimators are developed to be resilient to sensor measurement inaccuracies, model and tire parameter uncertainties, switchings in observer gains, as well as measurement failures. More particularly, the stability of the observer is investigated, and its robustness to road condition uncertainties and sensor noises is analyzed. The sensitivity of the observers' stability and performance to the model parameter changes is discussed. Moreover, the stability of the velocity observers for two cases of arbitrary and stochastic switching gains is investigated. The stochastic stability of the observer in the presence of faulty measurements is also studied, and it is shown that if the probability of a faulty measurement occurring is less than a certain threshold; the observer error dynamics will remain stochastically stable. The performance of the observer and the effect of the suspension compliance are validated via several road experiments.

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A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models

Cited by 30 publications

References 28 publications

Tire Condition Monitoring and Intelligent Tires Using Nanogenerators Based on Piezoelectric, Electromagnetic, and Triboelectric Effects

Tire Condition Monitoring and Intelligent Tires Using Nanogenerators Based on Piezoelectric, Electromagnetic, and Triboelectric Effects

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

Resilient Corner-Based Vehicle Velocity Estimation

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