Estimation of the vehicle's centre of gravity based on a braking model

Yue, Hongwei; Zhang, Libin; Shan, Hongyan; Liu, Huanfeng; Liu, Yicai

doi:10.1080/00423114.2015.1064971

Cited by 10 publications

(3 citation statements)

References 5 publications

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“…In some cases, these simulators have allowed to simulate the dynamics of a vehicle also in terms of response to an external disturbance: therefore, they have been used to investigate the robustness and fine-tune the characteristics of the software controllers that could be installed on such vehicles [32][33][34]. • Practical-experimental [22,40,41]: Using a dedicated test-facility, by following, developing or refining the test methods/procedures described by the legislation in force, e.g., ISO 789-6 [42], ISO 16231-2 [43], SAE J2141 [44], and SAE J2926 [45]. Other than obtaining a characterization of because the test configuration relates to a single steering angle.…”

Section: Approaches To the Problem Actual Tests Of Stability And Thmentioning

confidence: 99%

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Bietresato

Mazzetto

2019

Applied Sciences

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In this study, a new rig for investigating the static and dynamic stability of agricultural machines was conceived: its architecture was studied and its layout was designed following a specific conceptual approach. The first part of the proposed design process specifically addresses the test equipment and follows a ‘top-down’ logic starting from the requisites of the tests to perform. This approach alternates analysis and synthesis phases and exploits two important principles of the creative design process: functional analysis and decomposition, and kinematic inversion. During this process, many solutions (kinematic mechanisms, actuators) were proposed and discussed based on their advantages and disadvantages towards the definition of an optimal configuration. Therefore, the layout of a new mechanical system has been developed, which is supposed to steer subsequent and more detailed design-phases appropriately. The proposed facility has many innovative features compared to traditional test systems, in which vehicles are tested for lateral overturning under static conditions with the steering components (wheels/central joint for conventional/articulated vehicles) usually in a configuration corresponding only to a straight-path trajectory. Indeed, the present test rig is a mechanical installation with three degrees of freedom. It presents a wide plane, which can be tilted, composed by two semi-platforms connected by a central articulation hinge, operated by hydraulic jacks which allow the different angulations of the semi-platforms. It is specifically thought for performing dynamic stability tests of vehicles, especially on circular trajectories. An additional subsystem embedded in one of the two semi-platforms, configured as a rotating platform (‘turntable’), can test the global (static) stability of motionless vehicles placed on it.

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Section: Approaches To the Problem Actual Tests Of Stability And Thmentioning

confidence: 99%

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Bietresato

Mazzetto

2019

Applied Sciences

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“…To obtain the desired vehicle parameter from the IMU, the PX4 has to be placed on the Centre of Gravity (CoG) of the vehicle. The CoG location by the common LD (lifting detection) method [31]. The vehicle is placed on the weighing scale to measure the initial front and rear axle load.…”

Section: Sensor Setupmentioning

confidence: 99%

Validation of scenario-based virtual safety testing using low-cost sensor-based instrumented vehicle

Cheok

Lee

Rau

et al. 2023

JMES

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Autonomous vehicle (AV) requires millions of miles on road to test the reliability of safety systems. It is also difficult to test the AV for critical scenarios which are rare but will endanger road users. Therefore, virtual safety testing simulation platforms are introduced to test the safety systems of the autonomous vehicles in critical scenarios. However, developing the virtual safety testing simulation platform requires information about the environment and driving data from the real world. Besides, it is challenging to build a system to collect driving data which is normally cost intensive especially in developing countries. Paradoxically, these developing countries have poor traffic environment which can provide valuable scenarios for safety testing test cases. Therefore, in this paper, a scenario-based testing using virtual simulation platform is developed using data captured by a low-cost sensor-based instrumented vehicle. The instrumented vehicle is built by low-cost off-the-shelf components for the testing purpose. The instrumented vehicle is used for validation process in IPG CarMaker’s vehicle model using SAE standards. Then, the validated vehicle model is used as an autonomous vehicle in IPG CarMaker for the virtual scenario-based safety testing. The whole validation process from data collection to data logging is carried out using various economic sensors instead of a single industrial system. This approach greatly reduce the cost of the instrumented vehicle and the result of the scenario-based testing shows that the virtual scenarios developed in IPG CarMaker can be used for validation purpose with actual scenarios using low-cost sensor based instrumented vehicle as low as 4% root mean square percentage error.

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“…To avoid lateral/yaw/roll excitations, Huang and Wang [11] estimated the real-time CG position for lightweight vehicles based on a combined adaptive Kalman filter-extended Kalman filter approach. Yue et al [12] presented a braking-detection method using a dynamic braking model to estimate the vehicle's CG height. Chen et al [13] used a parameter estimator that included Kalman filtering and the recursive least-squares method with a variable forgetting factor to estimate the CG position of a four-wheeled independently driven electronic vehicle.…”

Section: Introductionmentioning

confidence: 99%

A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving

Yang

Wang

Han

2021

Journal of Control Science and Engineering

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Estimation of the center of gravity (CG) is the basis for intelligent control of the front-and-rear-axis-independent electric driving wheel loaders (FREWLs). This paper presents a novel real-time method for estimating the CG of FREWLs, which is suitable for driving and spading conditions on bumpy roads. A FREWL dynamical model is proposed to set up the state-space model. The CG estimator is used to estimate the longitudinal tire force using the state-space model and the improved square-root unscented Kalman filter (ISR-UKF) algorithm. The simulation and experimental results indicate that this method is suitable for FREWL dynamics and operational characteristics, and the estimated value of CG basically converges to the reference value. Finally, the probable reasons for error occurring in two experiments and the practical challenges of this method are discussed. The research in this paper establishes a partial theoretical basis for intelligent control of construction machinery.

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Estimation of the vehicle's centre of gravity based on a braking model

Cited by 10 publications

References 5 publications

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Definition of the Layout for a New Facility to Test the Static and Dynamic Stability of Agricultural Vehicles Operating on Sloping Grounds

Validation of scenario-based virtual safety testing using low-cost sensor-based instrumented vehicle

A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving

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