期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 71, 期 11, 页码 11571-11588出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2022.3193139
关键词
Active safety control; tire force estimation; vehicle stability assessment; vehicle stability prediction; strong tracking unscented Kalman filter
资金
- Beijing Municipal Science and Technology Commission through Beijing Nova Program [Z201100006820007]
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.
This paper presents an enabling comprehensive vehicle stability assessment system covering vehicle longitudinal, yaw and roll stability. First, the longitudinal, lateral and vertical tire forces are separately estimated using the strong tracking unscented Kalman filter and the conventional Kalman filter based on low-cost on-board sensors. Then, a comprehensive vehicle longitudinal, yaw and roll stability space is established by utilizing the normalized tire friction ellipse and the Load Transfer Ratio value. Finally, the vehicle stability is determined and predicted based on current driver's inputs. The hardware-in-loop experimental results show that the proposed vehicle stability assessment system can accurately estimate the longitudinal, lateral and vertical tire forces with the normalized root mean square errors of 1.87%, 1.07% and 1.43%, and exhibits satisfying performance for vehicle longitudinal, yaw and roll stability evaluation and prediction. This bears significance for the efficient functioning of active control systems to improve vehicle safety under critical driving conditions.
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