A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation

Doumiati, Moustapha; Victorino, Alessandro Corrêa; Charara, Ali; Lechner, Daniël

doi:10.1109/acc.2010.5531319

Cited by 52 publications

(34 citation statements)

References 11 publications

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“…However, in a land vehicle positioning system, since the lateral nonholonomic constraint is violated by a side slip during either cornering or change in road and tire conditions [14], the positioning accuracy would be degraded. Although the side slip angle is a very complicated phenomenon associated with road and tire conditions as well as high vehicle dynamics including fast driving and sharp turns [15], side slip always occurs during turning due to lateral tire deformation [16]. In order to define the lateral velocity by side slip in the two-dimensional DR based on WSS/YRS/SAS, the side slip angle model is defined in (15) with the assumption of a linear relationship between the side slip angle and the handle steering angle:…”

Section: Gnss/wss/yrs Integration Algorithmmentioning

confidence: 99%

Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Han¹,

Park²,

Hong³

et al. 2017

Journal of Sensors

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Recently, to improve safety and convenience in driving, numerous sensors are mounted on cars to operate advanced driver assistant systems. Among various sensors, vehicle dynamic sensors can measure the vehicle motions such as speed and rotational angular speed for dead reckoning, which can be applied to develop a land vehicle positioning system to overcome the weaknesses of the GNSS technique. In this paper, three land vehicle positioning algorithms that integrate GNSS with vehicle dynamic sensors including a wheel speed sensor (WSS), a yaw rate sensor (YRS), and a steering angle sensor (SAS) are implemented, and then a performance evaluation was conducted during GNSS outages. Using a loosely coupled strategy, three integration algorithms are designed, namely, GNSS/WSS, GNSS/WSS/YRS, and GNSS/WSS/YRS/SAS. The performance of the three types of integration algorithm is evaluated based on two data sets. The results indicate that both the GNSS/WSS/YRS integration and the GNSS/WSS/YRS/SAS integration could estimate the horizontal position with meter-level accuracy during 30-second GNSS outages. However, the GNSS/WSS integration would provide an unstable navigation solution during GNSS outages due to the accuracy limitation of the computed yaw rate using WSS.

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Section: Gnss/wss/yrs Integration Algorithmmentioning

confidence: 99%

Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Han¹,

Park²,

Hong³

et al. 2017

Journal of Sensors

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“…The EKF is a set of mathematical equations and is widely applied [4], the theory is presented in [3] and can be described like a recursive algorithm to generate an estimation (optimal in linear case) in the statistical sense of the state variables assuming that the system and the measuring devices has Gaussian Noise distributions which are known [17]. Algorithm:…”

Section: B Extended Kalman Filtermentioning

confidence: 99%

Design and Simulation for Path Tracking Control of a Commercial Vehicle Using MPC

Garcia-Bedoya

Ferreira

Neto

2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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The design of the robotic vehicle VILMA at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents the design and simulation of path tracking control using model predictive control (MPC) which attempts to exploit the characteristics of the structured environment where the future path is previously known. The model for design the controller is based in a single tracking model of the vehicle and in a model of the steering which the state variables are observed by the Extended Kalman Filter (EKF). Finally, it is explained how the path is smoothed generating an arc between the points and making an optimization process by the gradient algorithm.Index Terms-Autonomous Vehicle, Path Tracking, Model Predictive Control, VDA test 2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol 978-1-4799-6711-7/14 $31.00

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“…bin.wang bis@hds.utc.fr, qi.cheng@hds.utc.fr, acorreau@hds.utc.fr, acharara@hds.utc.fr load and road friction coefficient in [1]. A typical characteristic curve of the tire transverse behavior is shown in Figure 1.…”

Section: Introductionmentioning

confidence: 98%

Nonlinear observers of tire forces and sideslip angle estimation applied to road safety: Simulation and experimental validation

Wang

Cheng

Victorino

et al. 2012

2012 15th International IEEE Conference on Intelligent Transportation Systems

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Extensive research is focus on the stability control in the modern industrial auto-mobile society. Some active safety systems, such as Electronic Stability Program (ESP) and Traction Control System (TCS) have been widely used as safety option in our quotidian cars. These systems are based on the information which contains the motion characteristic of vehicle. Nevertheless, some complex safety system needs more information which can preferable describe the precise motion features, such as sideslip angle and tire forces. This article will principally present two non-linear observers: EKF (Extended Kalman filter) and PF (Particle filter) to estimate these variables, respectively. These observers are designed based on the non-linear double track model. The Dugoff model is used to elaborate the relation between tire forces and sideslip angle. Performances of these observers are tested by using the experimental data in real driving test, using our laboratory vehicle equipped with a real-time sampling and processing system. Particularly, the estimation process with EKF has been developed as a real-time application for the onboard test. Furthermore, a simulator is involved in the critical driving test which is hazardous in real driving condition.

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A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation

Cited by 52 publications

References 11 publications

Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Design and Simulation for Path Tracking Control of a Commercial Vehicle Using MPC

Nonlinear observers of tire forces and sideslip angle estimation applied to road safety: Simulation and experimental validation

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