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In this paper, six DOF model has been established for non-independent suspension vehicle with Robertson - Widenborg multi-body dynamics method. On this basis, Yaw velocity gain of a heavy vehicle was simulated by Matlab. The simulation results verified the model is reasonable. After further simulation, it indicates the model has theory significant for researching the handling and stability and designing...
In this paper, we propose a yaw moment control based on fuzzy-logic controller to enhance the vehicle stability. A two-degree-of-freedom nonlinear model of the considered vehicle is briefly presented. The feedback of the yaw rate and sideslip angle are regarded as inputs of the controller. The developed controller generates the suitable steering angle so that the vehicle follows the target values...
For a fully automation ground vehicle, the accurate longitudinal speed becomes more and more important due to the increasing demands on tracking of position, velocity and acceleration. Based on low-cost wheel speed encoders, this paper proposes a novel longitudinal speed estimator for vehicles on cornering maneuver. In the estimator, a gain-varying Kalman estimator is designed to output lateral states...
This paper presents a method of estimating vehicle states using an Unscented Kalman filter (UKF). The UKF developed estimates Vehicle motion, such as yaw rate and side slip angle, from the noisy measurement set. The vehicle state estimation using a non-linear vehicle model with Unitire tire model will be compared to the measured state which is subjected to the same tests, in order to validate the...
This article briefly explains the lateral vehicle dynamics and upgrades a two wheel vehicle model adding the dynamics of roll, tire relaxation and wheels induced angles. The state equations of the resulting model are given. A bond graph model is build step by step from the resulting equations in order to have a base model to facilitate analysis, simulation and further developments.
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