Journal ArticleDOI
The magic formula tyre model
Hans B. Pacejka,Egbert Bakker +1 more
TLDR
The Magic Formula model as mentioned in this paper provides a set of mathematical formulae from which the forces and moment acting from road to tyre can be calculated at longitudinal, lateral and camber slip conditions, which may occur simultaneously.Abstract:
An account is given of the latest version 3 of the Magic Formula tyre model. The model provides a set of mathematical formulae from which the forces and moment acting from road to tyre can be calculated at longitudinal, lateral and camber slip conditions, which may occur simultaneously. The model aims at an accurate description of measured steady-state tyre behaviour. The coefficients of the basic formula represent typifying quantities of the tyre characteristic. By selecting proper values, the characteristics for either side force, aligning torque or fore and aft force can be obtained. The new version of the model contains physically based formulations to avoid the introduction of correction factors. Double-sided, possibly non-symmetric pure slip curves are employed as the basis for combined slip calculations. Suggestions are given to estimate the driving part of the longitudinal slip curve and to represent the characteristic at rolling backwards.read more
Citations
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Journal ArticleDOI
An Observer of Tire–Road Forces and Friction for Active Security Vehicle Systems
TL;DR: In this paper, an adaptive tire force model that takes variations in road friction into account is proposed to calculate lateral tire forces, vehicle sideslip angle, and road friction. But the adaptive observer is evaluated in comparison with two nonadaptive observers that use tire force models with fixed parameters.
Journal ArticleDOI
AMZ Driverless: The full autonomous racing system
Juraj Kabzan,Miguel de la Iglesia Valls,Victor Reijgwart,Hubertus Franciscus Cornelis Hendrikx,Claas Ehmke,Manish Prajapat,Andreas Bühler,Nikhil Bharadwaj Gosala,Mehak Gupta,Ramya Sivanesan,Ankit Dhall,Eugenio Chisari,Napat Karnchanachari,Sonja Brits,Manuel Dangel,Inkyu Sa,Renaud Dubé,Abel Gawel,Mark Pfeiffer,Alexander Liniger,John Lygeros,Roland Siegwart +21 more
TL;DR: This paper presents the algorithms and system architecture of an autonomous racecar, developed by AMZ Driverless and ETH Zurich, that finished 1st overall at each competition the authors attended and discusses the findings and learnings from these competitions.
Journal ArticleDOI
Hierarchical control strategy with battery aging consideration for hybrid electric vehicle regenerative braking control
TL;DR: A hierarchical control strategy with battery aging consideration is proposed to solve the problem of regenerative braking and the control effectiveness of the proposed method is verified.
Journal ArticleDOI
Adaptation and Parameter Estimation in Systems With Unstable Target Dynamics and Nonlinear Parametrization
TL;DR: A solution to the problem of adaptive control and parameter estimation in systems with unstable target dynamics by allowing models of uncertainties to be nonlinearly parameterized, and required to be smooth and monotonic functions of linear functionals of the parameters.
Proceedings ArticleDOI
Sideslip angle, lateral tire force and road friction estimation in simulations and experiments
TL;DR: In this article, the authors proposed and compared four observers designed to calculate vehicle sideslip angle and lateral tire forces using the Extended Kalman Filter (EKF), the single track model, the Burckhardt model and the Pacejka model.
References
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Proceedings ArticleDOI
A New Tire Model with an Application in Vehicle Dynamics Studies
Journal ArticleDOI
Shear Force Development by Pneumatic Tyres in Steady State Conditions: A Review of Modelling Aspects
Hans B. Pacejka,Robin S. Sharp +1 more
TL;DR: In this article, a review of the generation of shear forces by pneumatic tyres under steady state conditions is presented, in a practical context, through reference to the uses to which models may be put by the vehicle dynamicist and the tyre designer.
Determination of magic tyre model parameters
Jjm Van Oosten,E. Bakker +1 more
TL;DR: In this paper, a set of MAGIC TYRE FORMULA PARAMETERS out of the DELFT TYRE MEASUREMENT TRAILER is compared to the "MONTE CARLO" version of the model.
Determination of Magic Formula tyre model parameters
J.J.M. van Oosten,E. Bakker +1 more
TL;DR: In this article, the Magic Formula Tyre Model is compared with the Monte Carlo version of the model and the comparison between the two versions shows that the latest version results in better fitting results especially for camber influences and (even more important) in an improvement on the fitting process.