Article
Engineering, Mechanical
Alexander O'Neill, Jan Prins, John F. Watts, Patrick Gruber
Summary: This paper demonstrates how the accuracy of a simple physical-based brush-type tyre model can be enhanced by incorporating real rubber friction characteristics, allowing accurate simulation of longitudinal and lateral slip conditions over a wide range of normal loads. However, at extreme loading scenarios, the simulation accuracy deteriorates due to the significant influence of highly nonlinear deformation behaviour of the tyre that is not accounted for in the brush model formulation.
VEHICLE SYSTEM DYNAMICS
(2022)
Article
Engineering, Mechanical
Yinfeng Han, Yongjie Lu, Na Chen, Hongwei Wang
Summary: This paper proposes a normalized strategy for estimating the tyre-road peak friction coefficient, which establishes a direct connection between tyre force and friction coefficient and improves adaptability to road excitation. By combining with a filtering algorithm, the estimation results can be obtained accurately in actual driving process. The effectiveness of the proposed strategy is verified through simulation and real vehicle tests.
Article
Mechanics
Luigi Romano, Francesco Timpone, Fredrik Bruzelius, Bengt Jacobson
Summary: This paper establishes new analytical results in the mathematical theory of brush tyre models, analyzing the exact problem with large camber angles and exploring the more general situation of limited friction. It compares the classic steady-state theory for a good approximation and demonstrates exact sliding solutions for all one-dimensional problems under transient conditions.
Article
Chemistry, Multidisciplinary
Algirdas Maknickas, Oleg Ardatov, Marijonas Bogdevicius, Rimantas Kacianauskas
Summary: This study modeled the interaction between a car tyre and a road surface, and investigated the influence of tyre deflection on the friction coefficient of the tyre tread. The results showed that overloading and nonoptimal internal tyre pressure caused reduced and skewed friction, resulting in a moving instability of the car during braking.
APPLIED SCIENCES-BASEL
(2022)
Article
Engineering, Mechanical
Luigi Romano, Fredrik Bruzelius, Bengt Jacobson
Summary: This paper focuses on unsteady-state brush tyre models, providing a full analytical solution to the partial differential equations describing bristle deformation in the adhesion region of the contact patch. It reveals that the solution can be divided into two different regions, with investigations into the time trend of shear stresses for a rectangular contact patch and parabolic pressure distribution. Additionally, important conclusions are drawn about the relaxation length for pure interactions and a simplified approach to derive tangential forces in the contact patch is introduced.
VEHICLE SYSTEM DYNAMICS
(2021)
Article
Engineering, Mechanical
Luigi Romano, Fredrik Bruzelius, Bengt Jacobson
Summary: This paper presents a novel tyre model that combines LuGre formulation with an exact brush theory, taking into account large camber angles and turning speeds. Closed-form solutions for frictional state at the tyre-road interface are provided for constant slip inputs, considering rectangular and elliptical contact patches. The proposed approach is compared to standard LuGre-brush tyre models and exact brush theory for large camber angles. Two approximated lumped models are developed for the general situation of time-varying slips and spins. The paper concludes that the lumped model is stable and easy to implement, making it effective for vehicle state estimation and control purposes.
VEHICLE SYSTEM DYNAMICS
(2023)
Article
Automation & Control Systems
Qian Zhang, Houhua Jing, Zhiyuan Liu, Yongfeng Jiang, Mingqin Gu
Summary: In this article, a novel vehicle sideslip angle estimation method is proposed using the Takagi-Sugeno (T-S) observer based on a piecewise affine (PWA) lateral dynamics model. Experimental results show that the proposed method can effectively estimate the sideslip angle under different road conditions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Construction & Building Technology
Anshul Kumar Sharma, Mohamed Bouteldja, Veronique Cerezo
Summary: This paper develops a multi-physical tyre model that takes into account the influence of temperature and macro-texture of the road surface. The model is validated through comparison with experimental results.
INTERNATIONAL JOURNAL OF PAVEMENT ENGINEERING
(2022)
Article
Engineering, Mechanical
Murong Li, Yong Lei, Yingda Hu, Shilun Du, Dedong Gao, Zhen Wang, Tian Xu
Summary: A novel friction coefficient model based on modified classical elastic friction theory was proposed in this study to establish the relationship between the friction coefficient and parameters such as normal pressure and velocity. The model was validated using computational inverse technique, showing varying friction coefficients between needle and PVA tissue phantom with different normal pressures and insertion velocities. The results can aid in understanding needle-tissue interactions and optimizing needle actuation strategies.
JOURNAL OF TRIBOLOGY-TRANSACTIONS OF THE ASME
(2022)
Article
Chemistry, Multidisciplinary
Paolo Cattani, Lucia Cattani, Anna Magrini
Summary: This research discusses the issue of an important parameter that has not been deeply studied in existing tire models and proposes a simple equation to calculate the real-time tire-road heat transfer coefficient, taking into account the traveling speed of the tire and the length of the contact patch. The results of the equation are consistent with empirical values and provide insights into the variation of this parameter.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Mechanical
W. J. West, D. J. N. Limebeer
Summary: This study investigates the management of tyre performance for a Formula One car using optimal control. The wear and friction of the tyres are modelled and optimized to extend the tyre life and improve race performance.
VEHICLE SYSTEM DYNAMICS
(2022)
Article
Mechanics
G. Dell'Orto, F. M. Ballo, G. Mastinu, M. Gobbi, G. Magnani
Summary: The paper discusses the influence of internal pressure, vertical force, speed, and rolling surface temperature on the mechanical characteristics of a road racing bicycle tyre. Experimental tests were conducted using VeTyT, a specially designed test-rig for measuring these characteristics. The study found that different inflation pressures and vertical loads affect the static tyre vertical stiffness, while the lateral force is influenced by the inflation pressure, vertical load, speed, and temperature. The results also suggest that stiffer rims improve cornering stiffness, and higher inflation pressure is recommended for heavy vertical loads.
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS
(2023)
Article
Engineering, Mechanical
Zhifang Zhao, Hongzheng Han, Pengfei Wang, Hui Ma, Shunhao Zhang, Yang Yang
Summary: The establishment of a fractal contact model for gear pair contact allows for the calculation of contact stiffness and compliance. Numerical simulation results show that contact stiffness increases with fractal dimension, while factors such as changes in fractal parameter and friction coefficient affect mesh characteristics.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Victor Mazzilli, Davide Ivone, Stefano De Pinto, Leonardo Pascali, Michele Contrino, Giulio Tarquinio, Patrick Gruber, Aldo Sorniotti
Summary: The study evaluates the performance improvement of an unscented Kalman filter using vertical and longitudinal tyre contact force signals obtained through smart tyres for vehicle speed and sideslip angle estimation. The use of smart tyre information results in a significant reduction of estimation errors and enhances the estimator's robustness and adaptability to variations in vehicle and tyre parameters.
VEHICLE SYSTEM DYNAMICS
(2022)
Article
Multidisciplinary Sciences
I. Gilavdary, S. Mekid, N. Riznookaya
Summary: This paper reports on the experimental measurement of friction moments during the pre-rolling phase with ultraprecision positioning. The experiments showed low rolling coefficients and the appearance of hysteresis curves depicting the dependence of friction moment on displacement.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Electrical & Electronic
Jongsang Suh, Eric Yongkeun Choi, Francesco Borrelli
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2020)
Article
Automation & Control Systems
Ugo Rosolia, Francesco Borrelli
Summary: This paper presents a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. The LMPC policy is time varying and guarantees recursive constraint satisfaction and non-decreasing performance through constructing time varying safe set and terminal cost function. Computational efficiency is achieved by convexifing the time-varying safe set and terminal cost function.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Automation & Control Systems
Roya Firoozi, Xiaojing Zhang, Francesco Borrelli
Summary: This paper presents an architecture for autonomous navigation of tight multi-lane platoons on public roads, allowing Connected and Automated Vehicles to form various geometrical configurations and adjust them in real time. The architecture includes an offline motion planner system and an online hierarchical control system that use optimization and real-time information for cooperative maneuvers and reconfigurations between vehicles.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Automation & Control Systems
Xiaojing Zhang, Alexander Liniger, Francesco Borrelli
Summary: This article presents a novel method that exactly reformulates nondifferentiable collision avoidance constraints into smooth, differentiable constraints using convex optimization. The proposed reformulation is exact and applicable to general obstacles and controlled objects. By connecting the results with signed distance concept, the method can be applied to generic navigation and trajectory planning tasks, enabling real-time optimization-based trajectory planning.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Engineering, Electrical & Electronic
Shima Nazari, Francesco Borrelli, Anna Stefanopoulou
Summary: This article discusses the potential of plug-in electric vehicles (PEVs) for reducing transportation emissions and providing energy buffers. The research focus is on vehicle to building (V2B) energy management, exploring various V2B application ideas and energy management methods in smart buildings.
PROCEEDINGS OF THE IEEE
(2021)
Article
Automation & Control Systems
Ugo Rosolia, Xiaojing Zhang, Francesco Borrelli
Summary: This article presents a robust learning model-predictive controller (LMPC) for uncertain systems and proposes an iterative design procedure to enlarge the control policy's domain and guarantee constraints satisfaction, stability, and performance bounds.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Proceedings Paper
Automation & Control Systems
Monimoy Bujarbaruah, Charlott Vallon, Francesco Borrelli
2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2020)
Proceedings Paper
Automation & Control Systems
Dimitris Papadimitriou, Ugo Rosolia, Francesco Bonelli
2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2020)
Proceedings Paper
Automation & Control Systems
Andrea Pozzi, Sangjae Bae, Yongkeun Choi, Francesco Borrelli, Davide M. Raimondo, Scott Moura
2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2020)
Proceedings Paper
Automation & Control Systems
Yvonne R. Sturz, Edward L. Zhu, Ugo Rosolia, Karl H. Johansson, Francesco Borrelli
2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2020)
Proceedings Paper
Automation & Control Systems
Edward L. Zhu, Yvonne R. Sturz, Ugo Rosolia, Francesco Borrelli
2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
Xu Shen, Ivo Batkovic, Vijay Govindarajan, Paolo Falcone, Trevor Darrell, Francesco Borrelli
2020 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV)
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
Yeojun Kim, Luca Onesto, Samuel Tay, Lujie Yang, Jacopo Guanetti, Sergio Savaresi, Francesco Borrelli
2020 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV)
(2020)
Proceedings Paper
Automation & Control Systems
Yongkeun Choi, Jacopo Guanetti, Scott Moura, Francesco Borrelli
Article
Robotics
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
IEEE ROBOTICS AND AUTOMATION LETTERS
(2020)
