Sideslip estimation for articulated heavy vehicles at the limits of adhesion

Morrison, Graeme; Cebon, David

doi:10.1080/00423114.2016.1223326

Cited by 23 publications

(20 citation statements)

References 33 publications

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“…The exception is sideslip angle of the tractor unit. Morrison and Cebon [24,25] address sideslip angle estimation for a tractor-semitrailer, including when manoeuvring at the limits of tyre adhesion due to low friction or heavy braking. The simulations in this paper assume that accurate and noise-free measurements of all the necessary states are available.…”

Section: Controller Designmentioning

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: Controller Designmentioning

confidence: 99%

Combined emergency braking and turning of articulated heavy vehicles

Morrison

Cebon

2017

Vehicle System Dynamics

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“…Very few works deal with other types of vehicles. For example, [20] investigates articulated heavy-duty vehicles in conditions of limit of adhesion. This paper proposes a novel vehicle sideslip angle estimator, consisting of a simple single-stage EKF approach (differently from more complex approaches such as [22]) with the following main novelties: -the Rational tyre model [21][22] is adopted and its parameters are estimated and updated in real time, for a better accuracy of the estimator with respect to parametervarying estimators based on linear tyre models and estimators based on fixed tyre parameters; -the EKF performance is assessed on experimental data collected on a heavy-duty vehicle equipped with a sideslip angle sensor.…”

Section: Introductionmentioning

confidence: 99%

Vehicle Sideslip Angle Estimation for a Heavy-Duty Vehicle via Extended Kalman Filter Using a Rational Tyre Model

2020

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Vehicle sideslip angle is a key state for lateral vehicle dynamics, but measuring it is expensive and unpractical. Still, knowledge of this state would be really valuable for vehicle safety systems aimed at enhancing vehicle safety, to help to reduce worldwide fatal car accidents. This has motivated the research community to investigate techniques to estimate vehicle sideslip angle, which is still a challenging problem. One of the major issues is the need for accurate tyre model parameters, which are difficult to characterise and subject to change during vehicle operation. This paper proposes a new method for estimating vehicle sideslip angle using an Extended Kalman Filter. The main novelties are: i) the tyre behaviour is described using a Rational tyre model whose parameters are estimated and updated online to account for their variation due to e.g. tyre wear and environmental conditions affecting the tyre behaviour; ii) the proposed technique is compared with two other methods available in the literature by means of experimental tests on a heavy-duty vehicle. Results show that: i) the proposed method effectively estimates vehicle sideslip angle with an error limited to 0.5 deg in standard driving conditions, and less than 1 deg for a high-speed run; ii) the tyre parameters are successfully updated online, contributing to outclassing estimation methods based on tyre models that are either excessively simple or with non-varying parameters. INDEX TERMS Kalman filter; sideslip angle; state estimation; Rational tyre model; vehicle dynamics. List of symbols Symbol Unit Quantity various Dynamic matrix m Vehicle semi-wheelbase m/s 2 Lateral acceleration various Matrix used to work out various Matrix used to work out N/rad Front cornering stiffness N/rad Rear cornering stiffness various Control input vector rad 2 Rational tyre model parameter N/rad Rational tyre model parameter

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“…Based on extended KF, Li et al [7] substituted damping items into the side‐slip angle rate feedback algorithm to compensate for the inaccuracy of model error to the estimation of road friction. Morrison and Cebon [8] explored three non‐linear KFs to ascertain the tractor side‐slip angle of a tractor‐semitrailer for articulated heavy goods vehicles. Li et al [9] proposed an unscented KF‐based adaptive variable structural observer with dynamic correction for vehicle body side‐slip angle to tackle down the bias drift problem in the integral.…”

Section: Introductionmentioning

confidence: 99%