Improving the active safety of road vehicles by sensing forces and moments at the wheels

Vehicle System Dynamics

Volumn 46, Issue SUPPL.1, 2008, Pages 957-968

  Gobbi, Massimiliano ^a   Botero, Juan C ^a   Mastinu, Giampiero ^a  

^a POLITECNICO DI MILANO   (Italy)

Author keywords

Active safety; Integrated controls; Tyre forces measuring; Vehicle dynamics control (VDC) systems

Indexed keywords

ROADS AND STREETS; TIME MEASUREMENT; TRACTION (FRICTION); VEHICLES; WHEELS; INTEGRATED CONTROL; SYSTEM THEORY; TIRES;

ACTIVE SAFETY; INTEGRATED CONTROLS; TYRE FORCES MEASURING; VEHICLE DYNAMICS CONTROL (VDC) SYSTEMS;

VEHICLE WHEELS;

ACTIVE SAFETY; LATERAL MOTION; LONGITUDINAL MOTION; MEASURING HUBS; REAL TIME MEASUREMENTS; ROAD VEHICLES; SENSING FORCE; SIX-AXIS; STATE OF THE ART; TRACTION CONTROL; TYRE FORCES MEASURING; VEHICLE DYNAMICS CONTROL (VDC) SYSTEMS; VERTICAL MOTIONS; WEAK POINTS; YAW MOMENT CONTROL;

EID: 51449118842     PISSN: 00423114     EISSN: 17445159     Source Type: Journal    
DOI: 10.1080/00423110802037198     Document Type: Conference Paper

References (67)

1. A.T. van Zanten, Bosch ESP systems: 5 years of experience, SAE Paper (2000-01-1633), 2000.
2. A.T. van Zanten, Control of horizontal vehicle motion, in Handbook of Road-and Off-Road Vehicle System Dynamics, Unpublished, 2006.
3. A.T. van Zanten, R. Erhardt, K. Landesfeind, and G. Pfaff, VDC systems development and perspective, International Congress and Exposition 1998, SAE, February 1998.
4. L.R. Ray, Nonlinear state and tire force estimation for advanced vehicle control, IEEE Trans. Control Syst. Technol. 3(1) (1995), pp. 117-124.
5. M.A. Wilkin, D.C. Crolla, M.C. Levesley, and W.J. Manning, Design of a robust tyre force estimator using an extended kalman filter, SAE Paper (2005-01-0402), 2005.
6. M.A. Wilkin, M.C. Levesley, and W.J. Manning, Design and verification of an extended Kalman filter to estimate vehicle tyre forces, SAE Paper (2006-01-1285), 2006.
7. F. Gustafsson, Slip-based tire-road friction estimation, Automatica 33(6) (1997), pp. 1087-1099.
8. M.R. Uchanski, Road friction estimation for automobiles using digital signal processing methods, Ph.D. thesis, University of California, Berkeley, 2001.
9. J.Ryu,State and parameter estimation for vehicle dynamics control using GPS, Ph.D. thesis, StanfordUniversity, 2004.
10. S.T.H. Jansen, P.W.A. Zegelaar, and H.B. Pacejka, The influence of in-plane dynamics on ABS braking of a quarter vehicle model, Veh. Syst. Dyn. 32 (1999), pp. 249-261.
11. T.D. Day and G. Roberts, A simulation model for vehicle braking systems fitted with ABS, SAE Paper (2002-01-0559), 2002.
12. Y. Yasui, H. Nitta, T. Yoshida, T. Hosome, and K. Kawamura, Experimental approach for evaluating tire characteristics and ABS performance, 2000 World Congress, SAE, March 2000.
13. K.C. Lee, J.W. Jeon, D.H. Hwang, and Y.J. Kim, Performance evaluation of antilock brake controller for pneumatic brake system, 30th Annual Conference of IEEE Industrial Electronics Society, volume 2, pages 301-307. IEEE 2004, pp. 301-307.
14. T. Kawabe, M. Nakazawa,I. Nostu, andY.Watanabe, A sliding mode controller for anti-lock brake system: Usage of sluggish actuators, Proceedingsof the 35th Conference on Decision and Control, IEEE, 1996, pp. 2769-2770.
15. B.R. Leeand K.H. Sin, Slip-ratio control ofABS using sliding mode control, Proceedingsofthe 4th Korea-Russia Internationa, Symposia on Science and Techonology, 2000, pp. 72-77.
16. R. Kazemi and K.J Zaviyeh, Development of a new ABS for passenger cars using dynamic surface control method, Proceeding of the 2001 American Control Conference, June 2001, pp. 677-683.
17. A. Ferrara and C. Vecchio, Low vibration vehicle traction control to solve fastest acceleration/deceleration problems via second order sliding modes, Proceedings of 2007 American Control Conference, New York, NY, 2007.
18. M. Sugai, H.Yamaguchi, M. Miyashita, T. Umeno, and K.Asano, New control technique for maximizing braking force on antilock braking system, Veh. Syst. Dyn. 32 (1999), pp. 677-683.
19. V. Ivanov, M.Vysotsky,V. Boutylin, and J. Lepeshko, The theoretical concepts for pre-extreme ABS, SAE Paper (2002-01-2185), 2002.
20. W. Krantz, J. Neubeck, and J. Wiedemann, Estimation of side slip angle using measured tire forces, SAE Paper (2002-01-0969), 2002.
21. Yung-Hsiang Judy Hsu, Shad Laws, Christopher D. Gadda, and J. Christian Gerdes, A method to estimate the friction coefficient and tire slip angle using steering torque, Proceedings of IMECE2006 ASME International Mechanical Engineering Congress and Exposition, Chicago, IL USA. November 5-10, 2006.
22. A. Sorniotti, Hardware in the loop for braking systems with anti-lock braking system and electronic stability program, SAE Paper (2004-01-2062), 2004.
23. M. Blanco, E. Perondi, and N.F. Ferreira, Development of an anti-lock braking system model, SAE Paper (2005-01-4032), 2005.
24. A.G. Ulsoy, D. Hrovat, H.K. Fathy, and P.Y. Papalambros, Nested plant/controller optimization with application to combined passive/active automotive suspensions, Proceedings of the 2003 American Control Conference, Vol. 4, 2003, pp. 3375-3380.
25. K. Yi, T. Chung, J. Kim, and S. Yi, An investigation into differential braking strategies for vehicle stability control, Proc. Inst. Mech. Eng. D, J. Automob. Eng. 217 (2003), pp. 1081-1093.
26. M.Abe,Y. Kano, K. Suzuki,Y. Shibahata, andY. Furukawa, Side-slip control to stabilize vehicle lateral motion by direct yaw moment, JSAE Rev. 22 (2001), pp. 413-419.
27. M. Abe and O. Mokhiamar, Effects of model response on model following type of combined lateral force and yaw moment control performance for active vehicle handling safety, JSAE Rev. 23(4) (2002), pp. 473-480.
28. O. Mokhiamar and M.Abe, Examination of different models following types of yaw moment control strategy for improving handling safety of a car-caravan combination, Proc. Inst. of Mech. Eng. D. J. Automob. Eng. 217 (2003), pp. 561-571.
29. J. Stephant, A. Chararaa, and D. Meizel, Evaluation of a sliding mode observer for vehicle sideslip angle, Control Eng. Pract. 15 (2007), pp. 803-812.
30. K. Shin and S. Chen, Adaptive open-loop rear-wheel-steering, 2005 American Control Conference, June 2005.
31. E.F. Kececi and G. Tao, Adaptive vehicle skid control, Mechatronics 16(5) (2006), pp. 291-301.
32. A.G. Thompson, An active suspension with optimal linear state feedback, Veh. Sys. Dyn. 5 (1976), pp. 187-203.
33. C.Yue, T. Butsuen, and J.K. Hedrick, Alternative control laws for automotive active suspensions, J. Dyn. Sys. Meas. Control 111 (1989), pp. 288-291.
34. A. Alleyne and J.K. Hedrick, Nonlinear adaptive control of active suspensions, IEEE Trans. Control Sys. Technol. 3(1) (1995), pp. 94-101.
35. E.M. Elbeheiry and D.C. Karnopp, Optimal control of vehicle random vibration with constrained suspension deflection, J. Sound Vib. 189(5) (1996), pp. 547-564.
36. Y. Zhang and A. Alleyne, A practical and effective approach to active suspension control, Veh. Sys. Dyn. 43 (2005), pp. 305-330.
37. D. Hrovat, Survey of advanced suspension developments and related optimal contro applications, Automatica 33 (1997), pp. 1781-1817.
38. Tim Gordon, Mark Howell, and Felipe Brandao. Integrated control methodologies for road vehicles, Veh. Sys. Dyn. 40(1-3) (2003), pp. 157-190.
39. H. Wallentowitz, Integration of chassis and traction control systems: what is possible, what make sense, what is under development, Proceedings of the AVEC 92, pages 1-7, 1992.
40. S. Zheng, H. Tang, Z. Han, and Y. Zhang, Controller design for vehicle stability enhancement, Control Eng. Pract. 14(12) (2006), pp. 1413-1421.
41. O. Mokhiamar and M.Abe, How the four wheels should share forces in an optimum cooperative chassis control, Control Eng. Pract. 14(3) (2006), pp. 295-304.
42. N. Berme, Multi-component force and moment measuring platform and load transducer, Patent US6354155, 2002.
43. Y. Byun, K. Ro, and H. Cho, Parallel type six-axes force moment measuring apparatus, Patent US6349604, 2002.
44. N. Cook, F. Carignan, and B. White, Multi-axis wheel transducer with angular position detector, Patent US5886350, 1999.
45. A. Dukart and A. Dietmar, Measuring arrangement in the wheel bearing of motor vehicles for detecting forces and moments, European Patent EP1225451A1, 2002.
46. P. Engeler, and M. Giorgetta, Multicomponent force and moment measuring arrangement, European Patent US5402684, 1995.
47. P. Meyer and D. Olson, Six axis load cell, European Patent EP0632884B1, 1998.
48. G. Potts and E. Knuth, Dynamic force measurement system for tire testing station, PatentWO 0204906A1, 2002.
49. Velos Mesysteme, Velos wheel force transducer, http://www.velos-wft.de/WFT/wft.html, 2003
50. Sensor Development Inc, Model 77016 and 6 axis wfs, http://www.sendev.com/, 2005
51. ATI Industrial Automation, Series omega and gamma, http://www.ati-ia.com/ , 2005
52. Michigan Scientific Corporation, Model lw 12.8, http://www.michsci.com/, 2005
53. MTS Systems Corporation, Swift wheel force transducer, http://www.mts.com/, 2005
54. Kistler Corporation, Roadyn wheel force sensor, http://www.kistler.com, 2005
55. G. Mastinu and M. Gobbi. Brevetto dispositivo e metodo per la misura di forze e momenti, Ital. Patent MI2003A 001500, PTC extension pending, 2003.
56. M. Gobbi, M.Aiolfi, M. Pennati, G. Previati, F. Levi, M. Ribaldone, and G. Mastinu, Measurement of the forces and moments acting on farm tractor pneumatic tyres, Veh. Sys. Dyn. 43(Supplement) (2005), pp. 412-433.
57. M. Gobbi, G. Mastinu, and F. Giorgetta, Sensors for measuring forces and moments with application to ground vehicle design and engineering, Proceedings of IMECE2005, ASME International Mechanical Engineering Congress and Exposition, Orlando, Florida, November 2005.
58. J.C. Botero, M. Gobbi, G. Mastinu, N. Di Piazza, and R. Martorana, On the reformulation of the ABS logic by sensing forces and moments at the wheels, Proceedingsofthe Fifth IFAC Symposium onAdvancesinAutomotive Control, 2007.
59. J.C. Botero, Active safety systems for road vehicles, Ph.D. thesis, Politecnico di Milano, 2007.
60. J.J.E. Slotine and W. Li, Applied Nonlinear Control, Prentice-Hall, New Jersey, 1991.
61. C. Edwards and K.S. Spurgeon, Sliding Mode Control: Theory and Applications, Taylor & Francis, London, 1998.
62. BOSCH, Automotive Brake Systems, Robert Bosch GmbH, 1995.
63. M. Guiggiani, Dinamica del Veicolo, CittàStudi Edizioni, 1998.
64. A. Morelli, Progetto dell'autoveicolo, CELID, 1999.
65. H.B. Pacejka, Tyre and Vehicle Dynamics, Butterworth-Heinemann, Oxford, 2002.
66. C. Doniselli, M. Gobbi, and G. Mastinu, Measuring the inertia tensor of vehicles, Veh. Sys. Dyn. 37(27) (2002), pp. 301-313.
67. A.G. Ulsoy, D. Hrovat, and T. Tseng, Stability robustness of lq and lqg active suspensions, ASME J. Dynamic Sys. Measurement and Control 116(l) (1994), pp. 123-131.