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This paper addresses the design, implementation and validation of a coordinated lateral and longitudinal dynamics control for a racing four-wheel driven RC vehicle. The coordination is achieved hierarchically: a wheel slip control loop stabilizes the fastest longitudinal dynamics, so that the outer lateral dynamics control can rely on non-saturated tires. Designing a wheel slip controller on a scale...
Automotive vehicle velocity estimation with only steering angle and angular wheel velocities as available measurements is considered in the paper at hand. The approach is based on dynamic inversion of wheel force generation combined with stationary Kalman filter design. A detailed assessment of the results by comparison with measured data is given. Possible applications include hierarchical monitoring...
Knowledge of vehicle dynamic data is essential for the enhancement of active safety systems such as suspensions and trajectory control systems. Vehicle controllability analysis on real roads can be obtained only if valid road profile and tire road friction model are known. With regard to the road profile, this study focuses on a real-time estimation method based on Kalman filter. Besides, this paper...
Sideslip angle is the most widely used attributes for measuring the vehicle side slipping. Predicting the trend of sideslip angle in advance is of great significance for sideslipping precaution. In this research, small-vehicle model was selected, took steering wheel angle, yaw rate, lateral acceleration and four wheel velocities into account, and then applied neural network to build a prediction model...
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