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Vehicle dynamics

About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.


Papers
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Journal ArticleDOI
TL;DR: A method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems and it is shown that the tire estimation algorithm performs well outside the linear region of the tire.
Abstract: This paper presents a method for using global positioning system (GPS) velocity measurements to improve vehicle lateral stability control systems. GPS can be used to calculate the sideslip angle of a vehicle without knowing the vehicle model. This measurement is combined with other traditional measurements to control the lateral motion of the vehicle. Noise estimates are provided for all measurement systems to allow the sensors to be accurately represented. Additionally, a method to calculate the lateral forces at the tires is presented. It is shown that the tire estimation algorithm performs well outside the linear region of the tire. Results for the controller and force calculations are shown using a nonlinear model to simulate the vehicle and the force calculations are validated with experimental measurements on a test vehicle.

143 citations

Journal ArticleDOI
TL;DR: This paper provides a complete analysis of the formation stability for this class of decentralized control problems and relates the complete closed-loop system poles to the transmitter and receiver gains, and the spectral properties of the Laplacian of the graph describing the communication links within the formation.
Abstract: The control of cooperative formations of vehicles can be based on parallel estimation, where each vehicle determines its control action from a locally maintained estimate of the entire observable formation state. Vehicles may communicate with one another allowing the local estimates to incorporate information from other estimators in the formation. This paper studies the dynamics that arise in this situation and provides a complete analysis of the formation stability for this class of decentralized control problems. In the absence of communication, the local estimator-controllers' open-loop dynamics necessarily appear in the closed-loop system dynamics, giving a more stringent closed-loop stability condition than in the single controller case. The estimators achieve consensus if and only if the controllers' open-loop dynamics are stable. Communication amongst the estimators can be used to specify the complete system dynamics and we present a framework for the analysis and design of communicated information links in the formation. We relate the complete closed-loop system poles to the transmitter and receiver gains, and the spectral properties of the Laplacian of the graph describing the communication links within the formation. These results also apply to parallel estimation problems in other applications including power system control and redundant channel control architectures.

143 citations

Journal ArticleDOI
TL;DR: In this paper, an extended (nonlinear) Kalman filter is designed to estimate the rapidly varying handling state vector, which is augmented to include adaptive states (cornering stiffnesses) to compensate for tyre force nonlinearities.
Abstract: This paper considers a method for estimating vehicle handling dynamic states in real-time, using a reduced sensor set; the information is essential for vehicle handling stability control and is also valuable in chassis design evaluation. An extended (nonlinear) Kalman filter is designed to estimate the rapidly varying handling state vector. This employs a low order (4 DOF) handling model which is augmented to include adaptive states (cornering stiffnesses) to compensate for tyre force nonlinearities. The adaptation is driven by steer-induced variations in the longitudinal vehicle acceleration. The observer is compared with an equivalent linear, model-invariant Kalman filter. Both filters are designed and tested against data from a high order source model which simulates six degrees of freedom for the vehicle body, and employs a combined-slip Pacejka tyre model. A performance comparison is presented, which shows promising results for the extended filter, given a sensor set comprising three accelerometers only. The study also presents an insight into the effect of correlated error sources in this application, and it concludes with a discussion of the new observer's practical viability.

142 citations

Journal ArticleDOI
TL;DR: In this paper, the authors present a global architecture for VDM, which is a clearly structured, extensible functional architecture with appropriate control structures and system interfaces with physical meaning, including brake, steering, suspension and propulsion systems.
Abstract: Active chassis systems like brake, steering, suspension and propulsion systems are increasingly entering the market. In addition to their basic functions, these systems may be used for functions of integrated vehicle dynamics control. A global architecture is required to prevent negative interference, for an optimised functionality and for managing system complexity. Several approaches are known under names like Integrated or Global Chassis Control and Integrated Vehicle Dynamics Control. Vehicle Dynamics Management (VDM) is the Bosch approach for co-ordinating vehicle dynamics functions by integrated control of active chassis systems. Its essential features are a clearly structured, extensible functional architecture with appropriate control structures and system interfaces with physical meaning.

142 citations

Journal ArticleDOI
TL;DR: In this article, a three-layer hierarchical structure is proposed to coordinate the interactions among active suspension system (ASS), active front steering (AFS), and direct yaw moment control (DYC).
Abstract: This paper proposes a novel integrated controller with three-layer hierarchical structure to coordinate the interactions among active suspension system (ASS), active front steering (AFS) and direct yaw moment control (DYC). First of all, a 14-degree-of-freedom nonlinear vehicle dynamic model is constructed. Then, an upper layer is designed to calculate the total corrected moment for ASS and intermediate layer based on linear moment distribution. By considering the working regions of the AFS and DYC, the intermediate layer is functionalised to determine the trigger signal for the lower layer with corresponding weights. The lower layer is utilised to separately trace the desired value of each local controller and achieve the local control objectives of each subsystem. Simulation results show that the proposed three-layer hierarchical structure is effective in handling the working region of the AFS and DYC, while the quasi-experimental result shows that the proposed integrated controller is able to improve the lateral and vertical dynamics of the vehicle effectively as compared with a conventional electronic stability controller.

142 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
2023167
2022478
2021620
2020811
2019749
2018749