Sideslip estimation for articulated heavy vehicles in low friction conditions

Morrison, Graeme; Cebon, David

doi:10.1109/ivs.2015.7225664

Cited by 6 publications

(6 citation statements)

References 8 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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“…In an earlier paper, [20] the same observers were investigated using a 3 DoF yaw-plane only version of the vehicle model. Yaw-plane models have been successfully used in sideslip observers for passenger cars.…”

Section: Nonlinear Observersmentioning

confidence: 99%

“…However, it has been demonstrated that the observer's performance breaks down as the limits of adhesion are approached. [20] HGVs are less likely to encounter such conditions than passenger cars, since on a dry road surface they will tend to rollover long before the onset of nonlinear tyre behaviour. Nonetheless, HGV tyres may still reach the limits of adhesion if either the tyre-road friction coefficient is low or they are saturated longitudinally by heavy braking.…”

Section: Introductionmentioning

confidence: 99%

Sideslip estimation for articulated heavy vehicles at the limits of adhesion

Morrison

Cebon

2016

Vehicle System Dynamics

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Various active safety systems proposed for articulated heavy goods vehicles (HGVs) require an accurate estimate of vehicle sideslip angle. However in contrast to passenger cars, there has been minimal published research on sideslip estimation for articulated HGVs. Stateof-the-art observers, which rely on linear vehicle models, perform poorly when manoeuvring near the limits of tyre adhesion. This paper investigates three nonlinear Kalman filters (KFs) for estimating the tractor sideslip angle of a tractor-semitrailer. These are compared to the current state-of-the-art, through computer simulations and vehicle test data. An unscented KF using a 5 degrees-of-freedom single-track vehicle model with linear adaptive tyres is found to substantially outperform the state-of-the-art linear KF across a range of test manoeuvres on different surfaces, both at constant speed and during emergency braking. Robustness of the observer to parameter uncertainty is also demonstrated. ARTICLE HISTORY

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“…The available sensor information will enable the access to three angles: the heading (ψ) that gives the physical orientation of the vehicle, the GC of the GPS that gives the orientation of the movement of the vehicle, and the sideslip angle (β) given by (7).…”

Section: B Coordinate Transformationmentioning

confidence: 99%

“…It was also presented a method which calculates and predicts the lateral forces of the tires. Morrison and Cebon in [7] use a vehicle model and a nonlinear tire model alongside a nonlinear Kalman Filter to estimate the sideslip of articulated heavy vehicles in low friction conditions.…”

Section: Introductionmentioning

confidence: 99%

Sensor fusion algorithm based on Extended Kalman Filter for estimation of ground vehicle dynamics

Barbosa

Lopes

Araújo

2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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The current vehicle stability control techniques relies on an accurate sensor information and a complete system definition, such information is not easily obtained and requires expensive sensor technology. In this work it is presented a fusion algorithm for estimating the vehicle handling dynamic states, using inertial measurements combined with Global Positioning System (GPS) information, based on the Extended Kalman Filter algorithm (EKF). The proposed method will be able to track the state of the variable vector that includes the yaw rate, lateral velocity and longitudinal velocity of the vehicle using the information of the available sensors combined with the nonlinear model of the system. In order to validate the proposed sensor fusion algorithm a simulation with a high-fidelity CarSim model is carried out and its sensors are compared with Extended Kalman Filter state variables.

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Sideslip estimation for articulated heavy vehicles in low friction conditions

Cited by 6 publications

References 8 publications

Combined emergency braking and turning of articulated heavy vehicles

Combined emergency braking and turning of articulated heavy vehicles

Sideslip estimation for articulated heavy vehicles at the limits of adhesion

Sensor fusion algorithm based on Extended Kalman Filter for estimation of ground vehicle dynamics

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