Article
Acoustics
Gengxin Qi, Ming Yue, Jinyong Shangguan, Lie Guo, Jian Zhao
Summary: This paper proposes an integrated control method for path tracking and lateral stability of distributed drive electric vehicles based on tire cornering stiffness adaptive model predictive control scheme. The control method improves the performance of path tracking and lateral stability by integrating active front steering and direct yaw control. The tire cornering stiffness is estimated using the extended Kalman filter algorithm, and an adaptive model predictive controller is constructed based on the online updated tire cornering stiffness value. The simulation results show that the proposed method is robust and effective in improving vehicle path tracking accuracy and lateral motion stability under extreme conditions.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Engineering, Electrical & Electronic
Xiaolin Ding, Zhenpo Wang, Lei Zhang, Jizheng Liu
Summary: This paper presents a comprehensive vehicle stability assessment system that accurately estimates tire forces and evaluates and predicts vehicle stability, which is of great significance for improving vehicle safety under critical driving conditions.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Wenpeng Wei, Hussein Dourra, Guoming Zhu
Summary: This paper proposes a method to estimate the vehicle tire traction torque by estimating vehicle speed and tire stiffness simultaneously. A unified traction torque estimation model is constructed by considering both tire and full vehicle dynamics based on a few low-cost measurements. The dual estimation of system states and parameters is realized using the dual extended Kalman filter algorithm. The effectiveness of the proposed algorithm is validated by comparing the estimated results with directly measured ones and existing estimation approaches.
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Mechanical
Jia Ye, Zhifei Zhang, Jie Jin, Ruiqi Su, Bo Huang
Summary: The tire-road friction coefficient is crucial for vehicle safety systems. Existing methods have limited accuracy, while the proposed estimation method improves accuracy by adaptively adjusting tire stiffness and accurately identifies tire damage.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Emir Hrustic, Rayen Ben Abdallah, Jordi Vila-Valls, Damien Vivet, Gael Pages, Eric Chaumette
Summary: This paper discusses the use of linearly constrained KF for robust nonlinear filtering under mismatched process and measurement models, introducing a new linearly constrained extended KF (LCEKF) for mitigating parametric modeling errors. The performance improvement of the new LCEKF for robust vehicle navigation is demonstrated through numerical results.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Energy & Fuels
Himadri Sekhar Bhattacharyya, Amalendu Bikash Choudhury, Chandan Kumar Chanda
Summary: This paper focuses on the battery management system (BMS) and the calculation of state of charge (SOC) in lithium-ion batteries. By using the electrical equivalent circuit model (EECM) and algorithms such as extended Kalman filter (EKF) and dual extended Kalman filter (DEKF), a fairly accurate estimate of SOC can be obtained. The impact of voltage and current sensor bias on SOC is also investigated, and the effectiveness of the algorithms is validated under different conditions.
INTERNATIONAL JOURNAL OF ENERGY RESEARCH
(2022)
Article
Engineering, Mechanical
Buyang Zhang, Ting Xu, Hong Wang, Yanjun Huang, Guoying Chen
Summary: This paper presents a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control, based on a novel vertical force model and an adaptive treble extend Kalman filter (ATEKF). The method improves system robustness through sliding mode update and other strategies, aiming to eliminate the effects of over-constraint and uneven weight distribution. Results show that the ATEKF method achieves excellent performance in vertical force evaluation, outperforming the treble extend Kalman filter.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2021)
Article
Chemistry, Analytical
Rafael Carbonell, Angel Cuenca, Vicente Casanova, Ricardo Piza, Julian J. Salt Llobregat
Summary: This paper proposes a path-following motion control method for a two-wheel drive unmanned ground vehicle (UGV), utilizing dual-rate extended Kalman filtering techniques to estimate fast-rate non-available position and orientation measurements, and designing a fast-rate dynamic controller that outperforms the slow-rate counterpart.
Article
Energy & Fuels
Zhiyong Zhang, Li Jiang, Liuzhu Zhang, Caixia Huang
Summary: The proposed improved adaptive EKF (IAEKF) SOC estimation method accurately estimates SOC under complex driven conditions, and demonstrates strong robustness to the uncertainty of model parameters and the initial value of the noise covariance matrix.
JOURNAL OF ENERGY STORAGE
(2021)
Article
Chemistry, Analytical
Manuel Alcazar Vargas, Javier Perez Fernandez, Ignacio Sanchez Andrades, Juan A. Cabrera Carrillo, Juan J. Castillo Aguilar
Summary: This study investigates the influence of temperature, vehicle speed, steering frequency, load, and inflation pressure on tire dynamics and proposes corresponding models. The results show that some variables have little effect on the lateral dynamics parameters of tires.
Article
Computer Science, Information Systems
Wouter Schinkel, Tom van der Sande, Henk Nijmeijer
Summary: A cooperative state estimation framework for automated vehicle applications is presented, which demonstrates the benefits of using vehicle-to-vehicle communication for accurate and stable vehicle following behavior. The state estimator, incorporating cascaded Kalman filtering process and considering operating frequencies of different sensors, provides a state estimate at every sample point in driving scenarios. Simulation results show the advantages of using vehicle-to-vehicle communication in reducing measurement noise and improving cooperative control schemes.
Article
Engineering, Chemical
Hui Zhang, Zichao Yang, Huiyuan Xiong, Taohong Zhu, Zhineng Long, Weibin Wu
Summary: Vehicle mass estimation is a crucial issue in autonomous vehicle control due to the nonlinearity of vehicle dynamics between states. This study proposes a transformer aided adaptive extended Kalman filter to improve the accuracy and stability of estimation. By introducing a transformer-based estimator and an adaptive law based on neural network training data, the proposed method achieves accurate and stable estimation. Simulation tests demonstrate the superior performance of the proposed method in terms of accuracy and stability.
Article
Mechanics
Elvis Villano, Basilio Lenzo, Aleksandr Sakhnevych
Summary: A novel method for estimating vehicle sideslip angle is proposed in this paper, utilizing a combination of kinematic and dynamic approaches with cross-feedback, and validated on experimental data obtained from different race tracks. The method shows promising results in improving both sideslip angle estimation accuracy and vehicle longitudinal velocity estimation compared to current state-of-the-art techniques.
Article
Energy & Fuels
Xin Lai, Yunfeng Huang, Xuebing Han, Huanghui Gu, Yuejiu Zheng
Summary: A novel SOE estimation method using PF and EKF algorithms is proposed in this study, which is able to improve accuracy and robustness by identifying battery model parameters at different temperatures. Experimental results show that the maximum error of the proposed algorithm is less than 3% under dynamic conditions and can quickly converge to its reference trajectory even with large initial errors in SOE and total available energy.
JOURNAL OF ENERGY STORAGE
(2021)
Article
Mathematics
Qian Zhang, Yifan Xu, Xueyun Wang, Zelong Yu, Tianyi Deng
Summary: This article presents an innovative method for online calibration of the pitot tube and estimation of wind field, with analysis of the observability of EKF and experimental validation showing the feasibility and effectiveness of the proposed approach.
