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Rally drivers can perform extreme maneuvers and keep a vehicle on track by maximizing the vehicle agility. It is remarkable that this is achieved robustly, without a vehicle or tire model in mind. In this study, the Moment Method Diagram and Beta Method representations are used to show the maximum achievable yaw moment generated by the front and rear tires. A new maneuverability map is proposed to...
This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagrange's equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior...
This In order to improve the control effect of vehicle stability, a novel predictive control based on subspace identification is proposed. Different from the traditional subspace predictive control, the presented method is implemented by recursive version of PBSIDopt, which gives asymptotically consistent estimation and is suitable for slowly time-varying vehicle system. By using the proposed algorithm,...
This study deals a robust approach to improve vehicle handling manoeuvres and path tracking performance for front steering system of Sport Utility Vehicles (SUVs). The approach used the dynamic sliding mode control based on an integral sliding surface to enhance the robustness of the proposed controller and vehicle handling performance. In this paper, the controller is designed to be insensitive and...
In this paper we propose a novel reduced-order car model that captures some key features for aggressive maneuvering of complex car vehicles. The proposed model, called RigidCar, consists of a rigid body interacting with the ground at four contact points (two-track car) and including tire models and load transfer. The model does not include suspension models, thus keeping a reasonable level of complexity...
Electronic Stability Control (ESC) and Active Front Steering (AFS) have been introduced in production vehicles in recent years, due to improved vehicle maneuverability and the effects in reducing single vehicle accident. We propose a hybrid Model Predictive Control (MPC) design for coordinated control of AFS and ESC. By formulating the vehicle dynamics with respect to the front and rear tire slip...
In order to improve the practicality and accuracy of simulation on vehicle traction performance, the simulation models of tire on vehicle traction performance are built by using three-dimensional finite element analysis, and on this basis the traction performance characteristics on entire vehicle are discussed. Aiming at a four-wheel-drive vehicle, the mathematical models about the accelerated process...
The unscented Kalman filter (UKF) has become a new technique used in a number of nonlinear estimation application. Its application process includes calculating and transmitting the mean and covariance; making use of the forecast sample points and weighing calculation to forecast the mean and covariance; forecasting measurement value and covariance; at last, calculating the UKF gain, renewing state...
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