Importance of Vertical Dynamics for Accurate Modelling, Friction Estimation and Vehicle Motion Control

Kissai, Moad; Monsuez, Bruno; Mouton, Xavier; Martinez, Didier; Tapus, Adriana

doi:10.1109/itsc.2018.8569751

Cited by 3 publications

(4 citation statements)

References 24 publications

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“…This longitudinal stiffness depends on varying-parameters α, μ, and F z . These parameters could be estimated online (Kissai et al, 2018). It depends also on constant parameters C s , C α , and κ * .…”

Section: Longitudinal Force Linearizationmentioning

confidence: 99%

Fundamentals on Vehicle and Tyre Modelling

Kissai

2021

Vehicle Dynamics

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Many books provide vehicle dynamics and tire dynamics equations. Most of them are either too complex or too simplified for global Vehicle Motion Control (VMC). This chapter is focusing on the couplings that exist between longitudinal, lateral and vertical dynamics at both the vehicle and tire level. The equations provided are simple but sufficient for global VMC. Several research papers and industrial patents tend to provide a control strategy for a standalone system. Simplified car models are taken into consideration from the beginning. As we are steering towards global VMC, more complex models are needed. Here, we start from complex equations that are simplified enough to facilitate control synthesis while capturing the required couplings for a coordinated control. Results show how this simplified global dynamics equations are close enough to more complex high-fidelity models. These equations should be therefore used for the next generation of global VMC.Car manufacturers and equipment suppliers are constantly proposing new attractive subsystems to stand out from their competitors. Recently, a large interest has been given particularly to automated vehicles. Automation promises indeed safer and smarter vehicles. Several researches have been carried out on one hand in robotic vision, sensor fusion, decision algorithms, big data management, and others. On the other hand, car manufacturers are looking closely on the over-actuation of the vehicle itself (Shyrokau & Wang, 2012;Soltani, 2014;Sriharsha, 2016). Indeed, giving the vehicle new features such as the ability of steering the rear wheels (Seongjin, 2015), distributing the brake torques or/and the engine torques differently between left and right tires (Siampis et al., 2013) and so on, can expand the vehicle's performance and generate new motion possibilities and car behaviors. This can be actually achieved provided that a global chassis control strategy can be designed.

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Section: Longitudinal Force Linearizationmentioning

confidence: 99%

Fundamentals on Vehicle and Tyre Modelling

Kissai

2021

Vehicle Dynamics

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“…We suppose that the friction coefficient and the vertical loads can be estimated using for example the methods detailed in [27]. The desired acceleration v contains in this case the global yaw moment M ztot .…”

Section: Control Allocationmentioning

confidence: 99%

“…RESULTS Two major features should be verified in this section: control robustness and control allocation benefits. Regarding control robustness, we compare controllers developed and validated by co-simulation using a high-fidelity software as in [9], [12], [27], and the controllers developed in this paper using an experimental maneuver. However, to show the benefits of control allocation algorithms, we only use simulation of the validated identified models by experiment.…”

Section: Control Allocationmentioning

confidence: 99%

See 1 more Smart Citation

Robust Control for Over-Actuated Vehicles

Kissai

Monsuez

Martinez

et al. 2019

2019 IEEE Conference on Control Technology and Applications (CCTA)

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Many car manufacturers are equipping their vehicles with advanced systems to win the race towards autonomous vehicles. In order to ensure multiple objectives, different embedded systems influencing differently the same physical variable are often implemented in the same vehicle. Most of car manufacturers tend to activate one system at a time, especially when the low-level control of actuators is developed by different equipment suppliers, making the inner dynamics uncertain. However, this limits the potential of the vehicle. This paper discusses the feasibility of coordinating these systems when activated at the same time, while ensuring an acceptable robustness regarding the uncertain dynamics. Results showed good performance in severe maneuvers when combining robust control synthesis and optimization-based control allocation algorithms. Therefore, several embedded systems may be activated at the same time to expand the overall potential of the vehicle and deal with more difficult situations.

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Autonomous Evasive Steering with Differential Braking Backup

Kissai

Mouton

et al. 2020

2020 20th International Conference on Control, Automation and Systems (ICCAS)

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Importance of Vertical Dynamics for Accurate Modelling, Friction Estimation and Vehicle Motion Control

Cited by 3 publications

References 24 publications

Fundamentals on Vehicle and Tyre Modelling

Fundamentals on Vehicle and Tyre Modelling

Robust Control for Over-Actuated Vehicles

Autonomous Evasive Steering with Differential Braking Backup

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