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VehicleDynamicsEstimationandPredictionSystems
StudentLingYuanHsu
AdvisorDr.TsungLinChen
ADissertation
SubmittedtoDepartmentofMechanicalEngineering
CollegeofEngineering
NationalChiaoTungUniversity
inPartialFulfillmentoftheRequirements
fortheDegreeof
DoctorofPhilosophy
in
MechanicalEngineering
September2011
Hsinchu,Taiwan,RepublicofChina
: :
Real Time
1
Observability Matrix
2
Switching Observer
2
3
20 6 Full-State Vehicle Model
Rollover
0.5 3.59
Relative
Accuracy 0.21% 4.3%
Differential Brake
1
2
Robust Stability3
Numerical
Search Carsim
90
0.032
0.5 52.42%
37.34% 0.1307
ii
Abstract
In this dissertation, two methods for vehicle dynamics estimation and prediction are
proposed for known vehicle model and unknown vehicle model, respectively. The former
estimates the current vehicle dynamics and road angle information from a model-based state
observer. And then, it predicts the future vehicle dynamic information based on the same
vehicle model, vehicle dynamics and road angles. The latter estimates the current vehicle
dynamics and road angle information from the sensor-based sensor fusion system. And then it
uses the above vehicle dynamics to identify the parameters of a vehicle model. Lastly, it
predicts vehicle future dynamics based on the selected vehicle model, vehicle dynamics and
road conditions (angles and friction coefficients). Both methods not only can predict the risk
of the vehicle rollover in the future time, but also can be applied to the vehicle real-time
control system to increase the driving safety.
In the approach for the known vehicle model, the proposed method focuses on two
things: (1) using the observability matrix of the vehicle model to determine the collaborated
sensors so that all the vehicle dynamics can be estimated using the minimum number of
sensors; (2) developing a novel state observer techniques (switching observer) to both lower
the complexity of designing an state observer for a high-order nonlinear system and reduce
the computation load for the real-time implantation. The above model-based approach can
predict the vehicle dynamics. However, its feasibility is largely affected by the accuracy of
the vehicle model. Therefore, this dissertation proposed another method for unknown vehicle
model. The method for unknown vehicle model is focuses on: (1) selecting a set of sensors so
that most of the vehicle dynamics can be estimated without a vehicle model; (2) selecting a
iii
vehicle model and using the above vehicle dynamics to identify the parameters in the vehicle
model; (3) using the above vehicle model, vehicle dynamics, and road conditions to predict
the vehicle dynamics in the future time.
In the approach for the known vehicle model, the observability analysis suggests the
minimum numbers of the incorporated sensors are four, which are lateral acceleration sensor,
longitudinal velocity sensor, yaw angle sensor, and four suspension displacement sensors,
According to the simulation results, the proposed method can estimate vehicle dynamics even
when two of the tires are off the ground. The estimation accuracy for vehicle attitude
estimation is less than 0.5 deg; the estimation accuracy for the road angles is less than 3.59
deg. The prediction accuracy is of 0.21% when the vehicle does a left turn, and it reduces to
4.3% when the vehicle rollover happens. For the case when vehicle model is unknown, the
analysis indicates that some of the vehicle dynamics cannot be correctly estimated when the
vehicle tire is off the ground. In other simulation conditions, the estimation accuracies of the
vehicle displacements and attitudes are less than 0.3 m and 0.11 deg, respectively, while the
estimation accuracy of the road angles is less than 0.15 deg. The accuracy of the dynamics
prediction is of 0.51% when the vehicle does a left turn, and it reduces to 27.3% when the
vehicle rollover happens. The inaccuracy of the dynamics prediction in the rollover case
mainly comes from using an over-simplified tire model.
This dissertation also discusses the effect of using future vehicle dynamics in a vehicle
trajectory control system. The proposed trajectory following system uses the differential brake
technique to regulate the vehicle trajectory without using the steering wheel. It differs from
the existing approaches in: (1) it can be applied to a front-drive, front steer vehicle; (2) the
control algorithm is developed using a hierarchical architecture, the sliding model controls are
used to ensure the robust stability for the entire system; (3) it achieves the minimum control
inputs while preserving the robust performance. Additionally, this optimal solution is
obtained analytically instead of from numerical search. Two vehicle models (full-state vehicle
model and Carsim vehicle model) are employed to verify the robustness of the proposed
control system. In the simulation, the initial vehicle velocity is 90 km/hr, the proposed control
iv
system can use the current vehicle dynamics information to regulate the vehicle finishing the
double lane change with the accuracy of the lateral displacement less than 0.032 m. When
using the future vehicle dynamics information, the control algorithm can control the vehicle in
advance by 0.5 second, lower the maximum vehicle yaw rate by 52.42%, and reduce the total
control efforts by 37.34%. However, the accuracy of the trajectory following is also lowered
to 0.1307 m.
Carsim
vi
....................................................................................................................... i
..................................................................................................................... iii
............................................................................................................................ vi
........................................................................................................................... vii
........................................................................................................................ xi
....................................................................................................................... xii
............................................................................................................. 1
1.1 ........................................................................................................ 1
1.2 ........................................................................................ 1
1.3 .................................................................................................... 3
1.4 .................................................................................................... 4
1.5 .................................................................................................... 5
1.6 .................................................................................................... 7
1.7 .................................................................................................................... 9
1.8 .................................................................................................................. 11
............................................................................................. 12
2.1 .................................................................................................. 12
2.2 .............................................................................. 13
2.3 .......................................................................................................... 14
2.3.1 .............................................................................................. 14
2.3.2 .............................................................................................. 15
2.3.3 .............................................................................................. 16
2.4 ...................................................................................................... 18
2.4.1 ...................................................................................................... 18
2.4.2 .......................................................................................... 19
2.4.3 .............................................................................................. 21
2.4.4 ...................................................................................................... 21
2.5 .............................................................................................. 23
vii
...................................................................................... 24
3.1 ...................................................................................................... 24
3.2 .................................................................................................. 25
3.3 .............................................................................. 26
3.3.1 .................................................................................................. 27
3.3.2 .............................................. 29
3.4 .......................................................................................................................... 31
.................................................. 32
4.1 .............................................................................................. 32
4.2 .................................................................................................. 33
4.2.1 .................................................................. 33
4.2.2 .......................................................................................... 34
4.3 ...................................................................................................... 35
4.3.1 ...................................................................................... 35
4.3.2 .............................................................................. 36
4.3.3 .............................................................................. 38
4.4 .......................................................................................................... 39
4.5 ...................................................................................................... 40
4.5.1 .............................................................. 41
4.5.2 .................................. 41
4.5.3 ...................................... 44
4.6 .......................................................................................................................... 45
.................................................. 46
5.1 .............................................................................. 46
5.2 ...................................................................................... 47
5.3 ...................................................................................................... 48
5.3.1 .............................................................. 49
5.3.2 .................................. 50
5.4 .......................................................................................................................... 51
.................................................. 53
6.1 ...................................................................................... 53
6.1.1 Kinematics ................................................................ 53
6.1.2 .......................................................................................... 54
6.2 .......................................................................................... 56
6.2.1 .......................................................... 56
6.2.2 .............................................................................. 57
6.2.3 .................................................................................. 58
viii
6.3 ...................................................................... 59
6.3.1 .................................................................. 59
6.3.2 .................................................................................................. 60
6.3.3 .............................................................................................. 62
6.3.4 .......................................................................... 64
6.4 ...................................................................................... 65
6.5 ...................................................................................................... 66
6.5.1 .................................. 67
6.5.2 .................................. 67
6.5.3 .............. 69
6.6 .......................................................................................................................... 71
...................................................................................... 73
7.1 .............................................................. 73
7.2 ...................................................................................................... 76
7.2.1 .............................................................................................. 77
7.2.2 ...................................................................................... 79
7.3 .................................................................................................. 79
7.3.1 ...................................................................................... 79
7.3.2 ...................................................................... 81
7.3.3 ...................................................................................... 81
7.3.4 ...................................................................... 82
7.3.5 .................................................................................. 82
7.4 ...................................................................................... 83
7.5 ...................................................................................................... 84
7.5.1 .......................................... 85
7.5.2 .................................................................. 88
7.5.3 ...................................................................................................... 90
7.5.4 ...................................................................................... 94
7.6 .......................................................................................................................... 95
.................................................. 97
8.1 .............................................................................. 97
8.2 ...................................................................................... 98
8.3 ...................................................................................................... 98
8.3.1 ............................ 100
8.3.2 .................................... 100
8.3.3 ............................................................................................................ 102
8.4 Carsim ................................................................................ 105
8.4.1 ........................................................................................ 108
ix
.................................................................................... 115
9.1 ............................................................................................................ 116
9.2 ............................................................ 116
9.3 ................................................................................................ 118
9.3.1 ........................................................................................ 119
9.3.2 .................................................................................... 120
9.3.3 .................................................................................................... 121
9.3.4 ................................................................................ 123
9.3.5 ........................................................................................ 127
9.4 ................................................................................................................ 128
9.4.1 .................................................................................... 128
9.4.2 ........................................................................................ 128
9.4.3 ................................................................................ 129
9.4.4 I ...................................................................... 132
9.4.5 IICarsim ................................................................ 137
9.4.6 ........................................ 139
9.5 ........................................................................................................................ 141
9.5.1 .................................................................... 141
9.5.2 .................................................................................................... 142
9.5.3 ................................................................................................ 143
9.5.4 ........................................................................ 145
9.6 ........................................................................................................................ 146
....................................................................................... 148
10.1 ........................................................................................................................ 148
10.2 ................................................................................................................ 151
.................................................................................................................. 153
A ......................................................................................... 159
A.1 ........................................................................ 160
A.2 ................................................................................................ 160
2.1 [10]................................................................................................20
2.2 [10]................................................................................................20
4.1 ..................................................................................................41
6.1 ..........................................................................................................64
6.2 ......................................................................................71
7.1 ..................................................................................90
7.2 ......................................................................................93
7.3 ..............................................................................95
8.1 ............................................102
8.2 ................................................................................102
8.3Carsim5.16b BigCar ......................................................109
9.1 ............................................................................................................131
9.2 ................................................................................................131
xi
1.1 ............................................................................................2
1.2 [43]..........................................................................6
1.3 [44]..............................................................................6
2.1 ..........................................................................................12
2.2 a r b r c
r ........................................................................................................................14
2.3 ..........................................................................................19
2.4 ..........................21
2.5 ..........................................................................................................22
3.1 ......................................................................................25
3.2
................................................................................................................26
4.1 ..........................................................................................40
4.2 ......................................42
4.3 ..............................42
4.4
6.8 .........................43
4.5 ..............................43
4.6
........................................................................................................44
4.7 ..............................45
5.1 ......................................................................................48
5.2 ......................................49
5.3 ..........................................50
5.4 ..........................................51
6.1 a) b) ................................................55
6.2 ..............................................56
6.3 ..................................................................57
6.4 ......................................................................................65
6.5 ..........................................................................................66
6.6 ......................67
6.7
............................................................................................................................68
6.8
........................................................................68
6.9
..........................................69
xii
6.10
............................................................................................70
6.11 .........70
7.1
4877N ................................74
7.2 ......................................................................................84
7.3 ......................................................................85
7.4 ..........................................86
7.5 ......87
7.6
........................................................................................................................87
7.7 ..........................................88
7.8 ......89
7.9
........................................................................................................................89
7.10 .................................................................91
7.11 .................................................................91
7.12
........................................................................................................92
7.13 1
2 3 4 ..........................................................................................95
8.1 ......................................................................................98
8.2 ..........................................................99
8.3 ..........................................................99
8.4 .........................................101
8.5 ........................................101
8.6
..............................................................................................................................103
8.7
..............................................................................................................................103
8.8 .................................................................104
8.9 .................................................................105
8.10 Carsim SIMULINK ...........106
8.11Carsim 205/60R14
..............................................................................................................107
8.12Carsim 205/60R14
..............................................................................................................107
8.13 Carsim .....................109
8.14 Carsim
..................................................................................111
8.15 Carsim
..................................................................................................................111
8.16 Carsim
..........................................................................................................................112
xiii
xiv
1.1
1999 NHTSA
/
[2][3]
[4][5]
1.2
Euler Angles
1.1 {g}{r}
{v}
1.1
g , g , g
yaw-pitch-roll
Cgv R x, g R x, g R x, g (1.1)
1 0 0
R x, g 0 cos g
sin g
0 sin g cos g
cos g 0 sin g
R x, g 0
1 0
sin g 0 cos g
cos g sin g 0
R x, g sin g cos g 0
0 0 1
r , r , r
pitch-roll-yaw
Cgr R z , r R x, r R y, r (1.2)
v , v , v
yaw-pitch-roll
C rv R x, v R x, v R x, v (1.3)
1.3
Model-based EstimationSensor-based
EstimationState
Observer Technology[6]-[19]
[6]-[9]
[6][7][13][16]-[18]
[6][7]
1
2
[13][16]-[18]
1.4
[2]-[5]
Open Loop
System Identification[29]
Persistent Excitation
J. Ryu [11]
z
[34][35]
Parameter Observability[42]
1.5
B. Chen [43]
Neural Network
Time-to-rollover
1.2 1988 Suzuki
Samurai 1997 Jeep Cherokee
Yes No
TTR=1
- 1?
1.2 [43]
W. Travis [44]
a y ,max 1.4
Vmax
Rollover Velocity
Fz ,max t
a y ,max
2mh (1.4)
Vmax
Fz ,max t m h
1.3
a y ,max
h
t
Fz ,min Fz ,max
1.3 [44]
M. Greene [45]
Curve Fitting Method
C. Liu [39]
P. Gaspar [5]
Vehicle
Rollover
1.6
[49][50]
[47][48]
[47][48]
Hierarchical Architecture[51]-[54]
Control Distribution[51]-[54]
1
Optimization ProblemNumerical
Search Method
[52][55][56]2
[53]
Wang [51]
Ono [55]
Mokhiamar [54]
[5]
1.7
1)
2)
3)
4)
5)
6)
10
1.8
11
lf
lr
2t f
z
y
{v} x
h
2t r 1a
1b
z 1
1
y
4 x
2
{a}
z 3
y z
y x
{g} {r}
x
2.1
2.1
12
{a} 2.1
z x x
r , r , r
r 0
1.11.3
2.1
2.2
2.2
g Ga , x , Ga , y , Ga , z x, y, z
13
2.2 a r b r c r
2.3
2.3.1
a a 0 2 r r
r r
a a a , x , aa , y , a a , z T
r xa , ya , za T
0, 0, v
T
a a 0
r
z
2 v 0, v 0
a r r (2.3)
14
mtot xa , y a , z a
2.3.2
v , x v v sin v
v , y v cosv v cos v sin v (2.5)
v , z v sin v v cos v cosv
v , x v v sin v vv cos v
v , y v cos v v cos v sin v vv sin v vv sin v sin v vv cos v cos v
v , z v sin v v cos v cos v vv cos v vv sin v cos v vv cos v sin v
v , x , v , y , v , z
M x I x v , x I y I z v , yv , z
M y I y v , y I z I x v , zv , x (2.6)
M z I z v , z I x I y v , xv , y
15
M x , M y , M z I x , I y , I z
2.52.6
v v sin v vv cos v
M x Iz Iy
Ix
Ix
v cos v v cos v sin v v sin v v cos v cos v
v cos v v cos v sin v vv sin v vv sin v sin v vv cos cos v
My
Iy
Ix Iz
Iy
v v sin v v sin v v cos v cos v
v sin v v cos v cos v vv cos v vv sin v cos v vv cos sin v
M z Iy Ix
Iz
Iz
v v sin v v cos v v cos sin v
(2.7)
2.3.3
Fx ,tire , Fy ,tire , Fz , spring 2.4
Fv , x , Fv , y , Fv , z v
2.1 1a
2.1 1b
2.1 1
1 1a 1b (2.9)
1a l f tf h/2 T
16
l f t f h
2 2 a 2b (2.10)
2a l f tf h/2
T
3 3 a 3b (2.11)
3a l r h / 2
T
tr
4 4 a 4b (2.12)
4 a l r h / 2
T
tr
lr t r 2.8
2.12
M F
i 1~ 4
i i (2.13)
M Mx My Mz
T
F Fv , x Fv , y Fv , z
T
17
2.4
2.4.1
H a ,i , for H a ,i mu ,i g / K spring
H a ,i
mu ,i g / K spring , for H a ,i mu ,i g / K spring
K spring C1 , C 2 , C3 mu ,i i
H a ,i i
2.142.15
18
Ddamper
Ddamper K spring
2.3
2.4.2
Fa ,tire Dx sinC x tan 1 Bx Ex Bx tan 1 Bx
(2.17)
Fb,tire Dy sinC y tan 1 B E B tan B
y y y
1
y
Slip Angle Bx , C x , Dx , E x
B y , C y , D y , E y
2.1 2.2
2.17
rii Vi cos i
i (2.18)
maxrii , Vi cos i
19
V1 ( x a t f v ) 2 ( y a l f v ) 2
V2 ( xa t f v ) 2 ( y a l f v ) 2
V3 ( xa t r v ) 2 ( y a lr v ) 2
V4 ( x a t r v ) 2 ( y a lr v ) 2
i i ri i
i i w,i (2.19)
w,1 tan 1 ( y a l f v ) /( xa t f v )
w, 2 tan 1 ( y a l f v ) /( xa t f v )
w,3 tan 1 ( y a lr v ) /( x a lr v )
w, 4 tan 1 ( y a lr v ) /( xa t r v )
i i w,i i
2.1 [10]
0 0
Bx 22 Fz , spring 1940 / 645 22 Fz , spring 1940 / 430
Cx 1.35 Fz , spring 1940 / 16125 1.35 Fz , spring 1940 / 16125
Dx 2000 Fz , spring 1940 / 0.956 1750 Fz ,spring 1940 / 0.956
Ex 3.6 0.1
2.2 [10]
By 10.2 5200 Fz ,spring / 4000
Cy 1.26 Fz , spring 5200 / 32750
Dy 2
0.0003Fz , spring 1.5096 Fz , spring 22.73
Ey 1.6
20
2.4.3
2.4 2.20
I wheel Tb ,i i
Tm,i i
Tb ,1
Tm ,1 r1
Fa ,tire ,1
2.4
2.4.4
[59]
2.5
2t f
cot outer cot inner (2.21)
l f lr
21
outer inner
18 sw
sw / 18
2.21
2.22 2.5 2.4
i i
3 4 0
outer
inner
2t f Fx ,tire ,1
1
x Fa ,tire ,1
x
x
y y
{a} l f lr Fy ,tire ,1
y
Fb ,tire ,1
2.5
22
2.5
xa , x a ,
ya , y a , z a , za , v , v , v , v , v , v H a ,1 , H a , 2 , H a ,3 ,
H a , 4 1 , 2 , 3 , 4 20
23
3.1
3.1
x f1 x1 , x2
x f x 1 (3.1)
x2 f 2 x1 , x2
x f x1 , x2
f1 , f 2
24
x
x f x
x1 , x2 T
x1
x1 f1 x1 , x2 x2 f 2 x1 , x2
x2
3.1
3.2
State Observer
x1 f1 x1, x2 L1 y1 y1
(3.2a)
y1 h x
1 1, x
2
x 2 f x
2 1, x L y
2 2 2 y 2
(3.2b)
y2 h x
2 1, x
2
y1 , y2 L1 , L2
3.2
25
y1 y2
x f x
x1 f1 x1 , x2 x2 f 2 x1 , x2
x1
1 1
x f x , x L y y
1 2 1 1 1 2 2 1
x f x , x L y y
2 2 2 2
y1 h x , x
1 1 2 x2 y 2 h x , x
2 1 2
3.2
3.3
x f x(t ) (3.3)
x n f : n n 0 t t n
x f x (t ), x2 (t )
x 1 1 1 f x(t ) (3.4)
x2 f 2 x1 (t ), x2 (t )
x1 m x2 nm f1 : m m f 2 : nm n m
3.4
26
f1 x1 (t ), x2 (t ) dt
t n1
x1,n 1 x1,n
tn
(3.5)
f 2 x1 (t ), x2 (t ) dt
t n1
x2,n 1 x2,n
tn
xi ,n xi t t t n xi ,n1 xi t t t n
x1 t x2 t 3.53.5
[64]
[64]
Switching Time
3.5
~ x1,n f1 ~
x1,n 1 ~ x2,n dt
x1 (t ), ~
t n1
tn
(3.6)
~ x2,n f 2 ~
x2,n 1 ~ x2 (t ) dt
x1,n 1 , ~
t n1
tn
3.3.1
3.53.6
1
2
x1,n 1 x1,n f1 x1,n , x2,n 2 A1, x1,n f1 x1,n , x2,n A1, x 2,n f1 x1,n , x2,n O 3
1
2
x2,n 1 x2,n f 2 x1,n , x2,n 2 A2, x1,n f 2 x1,n , x2,n A2, x 2,n f 2 x1,n , x2,n O 3
Ai , x1,n f i x1 (t ), x2,n
x1 x1 x1,n
(3.7)
Ai , x 2,n f i x1,n , x2 (t ) i 1, 2
x2 x 2 x2 , n
27
~ x1,n f1 ~
x1,n 1 ~ x2 , n O 2
x1,n , ~
(3.8)
~ x2,n f 2 ~
x2,n 1 ~ x2 , n O 2
x1,n 1 , ~
Switching Error
3.83.7
x1 2-norm
es ,1,n 1 2
2
es ,1,n 2
2
2 es ,1,n f1 ~
T
x2,n f1 x1,n , x2,n O 2
x1,n , ~ (3.9)
Lipschitz K1 Lipschitz K 2
es ,1,n 1 2
2
es ,1,n 2
2
2K1 es ,1,n 2
2
2K 2 es ,1,n 2
es , 2 , n 2 O 2
(3.10)
1 2K1 2K 2 es ,1,n K 2 es , 2,n O
2 2 2
2 2
es , 2,n 1 2
2
1 2K 4 2K 3 es , 2,n 2
2
K 3 es ,1,n 2
2
O2 (3.11)
3.103.11
Es ,n 1 An Es ,n Ds (3.12)
Es ,n es ,1,n 2
2
, es , 2 , n 2
2 T
1 K 5 K 2
An
K 3 1 K 6
Dn O 2 , O 2
T
K 5 2 K1 K 2
K 6 2 K 4 K 3
28
An An
1 1
An 1 K 5 K 6 K 5 K 6 2 4 K 2 K 3 (3.13)
2 2
K 2 K 3 Lipschitz 3.13
K 5 0, K 6 0
(3.14)
K 5 K 6 K 2 K 3
K1 K 4 3.14
An
Explicit Euler Method
3.3.2
3.6
i,n
Truncation Error ei xi xi
3.73.15
29
M 1 f1 x1,n , x2,n f1 x1,n , x2,n
M 2 f 2 x1,n 1 , x2,n f 2 x1,n , x2,n
M 1 M 2
M 1 A1, x1,n e1,n A1, x 2,n e2,n
(3.17)
M 2 A2, x1,n x1,n 1 x1,n A2, x 2,n e2,n
Ai , x1,n f i x1 (t ), x2,n
x1 x1 ax1,n 1 a x1,n
Ai , x1,n f i x1,n , x2 (t ) , a, b 0, 1
x2 x2 bx2,n 1 b x2,n
3.163.17
e1,n1 e1,n A1, x1,n e1,n A1, x 2,n e2,n 1,n
(3.18)
e2,n1 e2,n A2, x1,n e1,n A2, x 2,n e2,n 2,n
1,n 1,n O 2
O A x
x
2,n 2,n 2
2, x ,n 1, n 1 1, n
3.18
En 1 An En Dn (3.19)
En e1,n , e2,n
T
Dn En
An
30
3.4
31
4.1
r , r
4.1
[65][66]Fading Memory Technique
r 0
(4.1)
r 0
22
32
4.2
22
[42] 484
22 22 484 22
22
11 242
2 11 11 242
4.2.1
22
Vehicle Yaw Model
2 , 3 , 4 , r , r za , za , v , v , v , v , H a ,1 ,
H a , 2 , H a ,3 , H a , 4
xa y a v Fx ,tire / mtot Ga , x
ya xa v Fy ,tire / mtot Ga , y
I wheel i ri Fa ,tire ,i Tb ,i Tm ,i
r 0
r 0
33
za Fz , spring / mtot Ga , z
H a ,1 za l f v cos v t f v sin v sin v v cos v cos v
4.2.2
3.2a3.2b
x1 f1 x1, x2 L1 y1 y1
(4.3a)
y1 h x
1 1, x
2
x 2 f x
2 1, x L y
2 2 2 y 2
(4.3b)
y2 h x
2 1, x
2
f1 , f 2 x1 , x2
y1 , y2
L1 , L2
34
y1 , y2
L1 , L2
4.3
Local
ObservabilityObservability Matrix
[67]
Y1 Y2
Wo
T
Y Y Y
Wo 1 , 1 , 1 , (4.4)
Y2 Y2 Y2
4.3.1
2.2
Y1
Y2
35
ygsensor
Y1 xasensor (4.5)
vsensor
H asensor
,1
H a ,1
sensor
H a,2 H a,2
H asensor
,3
H
sensor a ,3
H a,4 H a,4
Y2 sensor
H a ,1 z a l f sin v t f cos v sin v
H asensor
,2
z a l f sin v t f cos v sin v
sensor
H a ,3 z a lr sin v t r cos v sin v
H sensor z a lr sin v t r cos v sin v
a,4
Y2
H asensor
,1 , H asensor
,2 , H asensor
,3 , H asensor
,4
[6]
Y2
4.3.2
r , r Ga , x , Ga , y , Ga , z
2.2
36
T
Y1 Y
Y
Wo,gravity 1 1
, ,
G a Y2 Y2 Y2
2 sin v sin v 2 cos v 2 sin v cos v
0 0 0
0 0 0
0 81 0 81 0 81
ygsensor ygsensor ygsensor
xa y a za
1 0 0
0 0 0
0 81 0 81 0 81
xa ya ygsensor
xa xa xa xa
y a yy aa
ygsensor
y a xa
ygsensor
za 1 y a
0 0 0
0 0 0
0 81 0 81 181
(4.6)
G a Ga , x , Ga , y , Ga , z T
Chain Rule
T
Y1 Y
Y
Wo,angle 1 1
, , ,
r , r , v Y2 Y2 Y2
T
Y1 Y
Y
, , , G
1 1
(4.7)
Ga , G ,
a Y Y Y
2 2 2
G
r , r , v
G a
,
,G a T
G
,
G a
37
[68]
, G
G a
4.64.8
4.8
4.3.3
xa
ya Y1
Y1 Y1 0
Y Y
xa 1 y 1 0 (4.9)
a
n1
38
124.9
Y 0 I 44
Wo,roll 2 46 (4.10)
Y2 A126 0124 1610
I A v 90
90
4.54.10
4.4
39
3.1
1
[42]2
[65][66]
A
4.5
MATLAB
90
4.1
12
3 4.2
4.7
1ms
4.1
Steering Maneuvers
200
180
160
140
120
deg
100
80
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.1
40
4.1
0.02 m/s2
0.05 m/s
0.4 deg
0.001 m
4.5.1
r 0, r 0
4.2 4.3
18
4.5.2
-10
10 r 10 deg, r 10 deg
4.4 4.5
0.5 deg
3.59 deg
41
Longitudinal Displacement xa Longitudinal Velocity x a Lateral Displacement ya Lateral Velocity y a
300 30 40 5
200 20 0
m/s
m/s
m
m
20
100 0 -5
0 10 -20 -10
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
deg
m/s
m
-0.1 0 50 20
0 0
-0.2 -1 -50 -20
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
deg
deg
0 0 0
0
-5 -20 -5 -10
0 5 10 0 5 10 0 5 10 0 5 10
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
100 100 100 100
80 80 80 80
rad/s
rad/s
rad/s
rad/s
60 60 60 60
40 40 40 40
0 5 10 0 5 10 0 5 10 0 5 10
0.2 0.2
m
m
0.2 0.2
0 0
-0.2 0 0 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Sensor output
Real vehicle dynamics Time
Dynamics (sec) system
estimation
4.2
-5
0 1 2 3 4 5 6 7 8 9 10
-5
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.3
42
m/s
m/s
m
m
30 -5
100 0
-10
0 20 -20 -15
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
1
deg
20
m/s
m
20
0 0 0
0 -20
-0.5 -1 -20 -40
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
deg
deg
0 100
0 0
0
-2 -20 -50 -100
0 5 10 0 5 10 0 5 10 0 5 10
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
150 150 150 150
rad/s
rad/s
rad/s
rad/s
100 100 100 100
50 50 50 50
0 5 10 0 5 10 0 5 10 0 5 10
0.2 0.2
m
m
0.2 0.2
0 0
-0.2 0 0 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Sensor output
Real vehicle dynamics Time
Dynamics (sec) system
estimation
4.4
6.8
-5
-10
-15
0 1 2 3 4 5 6 7 8 9 10
10
deg
-5
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.5
43
4.5.3
4.6 4.7
200 20 0
m/s
m/s
m
20
100 0 -5
0 10 -20 -10
0 5 10 0 5 10 0 5 10 0 5 10
-0.1 0 50 20
0 0
-0.2 -1 -50 -20
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
0
deg
deg
0 0
0 -10
-5 -20 -5 -20
0 5 10 0 5 10 0 5 10 0 5 10
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
100 100 100 100
80 80 80 80
rad/s
rad/s
rad/s
rad/s
60 60 60 60
40 40 40 40
0 5 10 0 5 10 0 5 10 0 5 10
0.2 0.2
m
0.2 0.2
0 0
-0.2 0 0 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec)
Real vehicle dynamics Sensor output Timeestimation
Dynamics (sec) system
4.6
44
0
Dynamics estimation system
-5
-10
0 1 2 3 4 5 6 7 8 9 10
5
deg
-5
-10
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.7
4.6
0.5 deg
3.59 deg
45
5.1
x Ax Bu (5.1)
x n u m A B
xt e A t t0 xt0 e A t Bu d
t
(5.2)
t0
xt x t ut u t
t 0 5.2
A B ut x t 0
46
5.2
5.1
47
H asensor ~ H asensor
ygsensor , xasensor , vsensor ,1 ,4
5.1
5.3
6 5 8
5.2 6 6 8
6 6
5.3 5.4
1ms
48
Steering Maneuvers
200
180
160
140 Turn on
the vehicle dynamics prediction system
120
deg
100
80
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
5.2
5.3.1
5.3
8
8
6 8 1
0.21%
/1[70]
49
Longitudinal Displacement xa Longitudinal Velocity x a Lateral Displacement ya Lateral Velocity y a
250 20 40
0
200 15 20
m/s
m/s
m
m
-5
150 10 0
deg/s
deg
m/s
m
0 0
-0.12 100
deg/s
0
deg
deg
1 0 5
-5
0.5 -1 0 -10
5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
80 80 80 80
60 60 60 60
rad/s
rad/s
rad/s
rad/s
40 40 40 40
20 20 20 20
5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10
0.2
m
m
0 0.15 0
0.15
5.3
5.3.2
5.4
4.3%
0.21% 4.3%
50
Longitudinal Displacement xa Longitudinal Velocity x a Lateral Displacement ya Lateral Velocity y a
250 30 40 10
20 0
m/s
m/s
m
m
200 28
0 -10
deg/s
1 0
deg
m/s
m
50
0 0.5 -20
-0.5 0 40 -40
5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
deg/s
5
deg
deg
1 200
0 50
0 -5 0 0
5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
89.5 130 115 104.36
rad/s
rad/s
rad/s
104.35
89.3 110 105
-0.02 0 0 -0.01
5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
Time (sec) Time (sec) Time Real
(sec)vehicle dynamics Time
Dynamics (sec) system
prediction
5.4
5.4
MATLAB
0.21% 4.3%
51
52
6.1
[24]-[28]
6.1.1 Kinematics
6.1
6.2
x ang g , g , g T
53
1 0 sin g
C 0 cos g cos g sin g
0 sin g cos g cos g
u ang xgyro , ygyro , zgyro T
x pos x g , y g , z g , x g , y g , z g T
u pos Axacc , Ayacc , Azacc T
{g}
Offset
6.1.2
6.2
6.1
[27][28]
54
100 Hz
10 Hz
a)
Global
Positioning Filter
Positions,velocities error
Systems
andangles
Vehicle
Inertial
Measurement
Accelerationsand
Units Stateestimation
angularrates
b)
Global
Positioning Filter
Positions,velocities error
Systems
andangles
Vehicle
Inertial
Accelerationsand
Measurement angularrates
Units
Stateestimation
6.1 a) b)
55
6.2
6.2
2.12.1 3 3
6.2.1
Septentrio PolaRx2e
[71]
6.2
GPS 19mm
56
Wabba
[72]
6.3
6.2.2
6.3
2.15
z sus
lr H asus
,1 H a , 2 l f H a , 3 H a , 4
sus sus sus
(6.3)
a
2l f 2lr
H asus
,1 H a , 2 H a , 3 H a , 4
sus sus sus
vsus sin 1
2l f 2lr
H asus
,1 H a , 2 H a , 3 H a , 4
sus sus sus
vsus sin 1
2t f 2tr cos v
sus
57
6.2.3
2) vsus vsus
3.3
3) r 0
2.1
Cgv C rv Cgr
R x, v R x, r R y, r R x, vsus R x, R x, R x, R x,
T
v
sus T gps
g
gps
g
gps
g
(6.4)
6.4
v r r
r sin 1{ cos ggps sin ggps sin vsus sin ggps sin ggps sin ggps sin vsus sin vsus
cos ggps cos ggps sin vsus cos vsus cos ggps sin ggps sin ggps cos vsus cos vsus (6.5)
sin ggps cos ggps cos vsus cos vsus }
r tan 1{[ cos ggps cos ggps sin vsus sin ggps sin ggps cos ggps sin vsus cos vsus
cos ggps sin ggps cos ggps cos vsus cos vsus sin ggps sin ggps cos vsus cos vsus ] /
[sin ggps sin vsus sin ggps cos ggps sin vsus cos vsus
cos ggps cos ggps cos vsus cos vsus ]}
v tan 1{[cos ggps cos ggps sin r sin r sin ggps cos r cos r
sin ggps sin r cos r ] /[cos ggps cos ggps cos r sin ggps sin r ]}
58
6.4
6.3
6.3.1
4.1
r 0
r 0 (6.6)
v 0
6.16.2
T T
x fus x pos , x ang , r , r , v T
59
B pos 0 63
B fus
063 B ang
u fus u pos , u ang T
6.3.2
y1gps x ggps , y ggps , z ggps , ggps , ggps , ggps (6.8)
6.8
y gps v
v
2 C g 1, 1, C g 1, 2
(6.9)
C C 1, 1, C C 1, 2
v
r
r
g
v
r
r
g
M n, m M n m
C rvCgr 1, 1 cos vsus cos v cos r cos vsus sin v sin r sin r sin vsus cos r sin r
r , r , v r , r
6.9 v
6.8
60
y1sus C rv 1, 3, C rv 2, 3, C rv 3,3
CgvCg 1, 3, CgvCg 2, 3, Cgv Cgr 3, 3
rT rT T
(6.10)
C rv 1, 3 sin vsus
CgvCgr 1, 3 cos ggps cos ggps cos r sin r cos ggps sin ggps sin r
T
CgvCgr 2, 3 sin ggps sin ggps cos ggps cos ggps sin ggps cos r sin r
T
sin gps
g sin ggps sin ggps cos ggps cos ggps sin r
sin gps
g cos gps
g cos r cos r
CgvCgr 3, 3 cos ggps sin ggps cos ggps sin ggps sin ggps cos r sin r
T
cos gps
g sin ggps sin ggps sin ggps cos ggpssin r
cos gps
g cos gps
g cos r cos r
y2sus zasus
(6.11)
Cgr 3, 1x g Cgr 3, 2 y g Cgr 3, 3z g
61
Cgr 3, 1 sin r
6.10
6.10
6.8Observability Matrix
Rank6.96.10
6.11
6.7
Observable
6.3.3
x fus A fus x fus B fusu fus Lfus y x fus y x fus (6.12)
62
^ Lfus
y x fus y x fus
6.12
6.1
Multi-rate Kalman Filter
[42][73]
y x fus y1gps , y gps sus sus
2 , y1 , y2 T
(6.13)
y x y
fus gps T
1 , y gps sus sus
2 , y1 , y2
y x fus 016 , 012 , y1sus , y2sus T
(6.14)
y x 0
fus T
sus sus
16 , 012 , y 1 , y 2
6.2.3
63
[42][73]
6.1
5 Hz 0 0.4 deg
a 5 Hz 0 1 m or 3 m
1000 Hz 0 0.02 m/s2
1000 Hz 0 0.08 deg/s
1000 Hz 0 0.001 m
1000 Hz 0 3 deg/s
a
[74] 1m
3m
6.3.4
Frequency
WidthDelay Time[42]
1 Ts
x k 1 x k 1 K k 1 z k 1 z k 1
0 1 (6.15)
K k 1 , / Ts
T
64
x z z
Ts
6.4
6.4
x g , y g , z g x g , y g , z g
g , g , g v , v , v
r , r
1234
6.4
65
6.5
MATLAB
90 6.5
1
23
6.6 6.9
1ms
6.1
Steering Maneuvers
200
180
Steering maneuvers in case 2
160
140
120
deg
100
80
Steering maneuvers in case 1 & 3
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
6.5
66
Logitudinal Displacement xg Logitudinal Velocity xg Absolute Roll Angle g Road Bank Angle r
200 26 6 0.6
150 24 4 0.4
22
deg
deg
m/s
m
100 Real vehicle dynamics 2 0.2
20
50 Sensor output 0 0
Sensor fusion system 18
0 16 -2 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement y
g Lateral Velocity y Absolute Pitch Angle
g
Road Grade Angle
r
g
60 2 0.2
20
40 0
1
deg
deg
m/s
m
10 -0.2
20 0
-0.4
0 0 -1 -0.6
0 5 10 0 5 10 0 5 10 0 5 10
deg
deg
m/s
m
0 0
20 20
10 10
-2 -0.2 0 0
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Time (sec)
6.6
6.5.1
6.5
6.6
6.2
6.5.2
6.5
6.7
6.8
6.9
67
Logitudinal Displacement xg Logitudinal Velocity xg Absolute Roll Angle g Road Bank Angle r
200 30 15 0.5
150 20
10 0
deg
deg
m/s
m
Lateral Displacement yg Lateral Velocity yg Absolute Pitch Angle g Road Grade Angle r
60 2 2
15
40 10
1
deg
deg
m/s
m
5 0
20
0 0
0 -5 -2
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement zg Vertical Velocity zg Absolute Yaw Angle g Vehicle Yaw Angle v
2 150 150
0.6
1 0.4
100 100
deg
deg
0.2
m/s
m
0
0 50 50
-1 -0.2
-2 -0.4 0 0
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Time (sec)
6.7
4000 9000
8000
3000
N
7000
2000
6000
1000 5000
0 4000
0 2 4 6 8 10 0 2 4 6 8 10
3000 7000
2000 6000
N
1000 5000
0 4000
-1000 3000
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
6.8
68
0
0 1 2 3 4 5 6 7 8 9 10
-10
0 1 2 3 4 5 6 7 8 9 10
-0.1
-0.15
0 1 2 3 4 5 6 7 8 9 10
time (sec)
6.9
6.5.3
6.5
6.10
6.2
6.11
69
Logitudinal Displacement xg Logitudinal Velocity xg Absolute Roll Angle g Road Bank Angle r
250 25 10 5
200 5
150
deg
deg
m/s
m
Real vehicle dynamics 20 0 0
100
Sensor output -5
50 Sensor fusion system
0 15 -10 -5
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement yg Lateral Velocity yg Absolute Pitch Angle g Road Grade Angle r
50 10 5
15
40
30 10
deg
deg
m/s
m
20 5 0 0
10
0
0
-10 -5 -10 -5
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement zg Vertical Velocity zg Absolute Yaw Angle g Vehicle Yaw Angle v
4 50 50
4
40 40
2 2 30 30
deg
deg
m/s
m
0 20 20
0 10 10
-2
0 0
-2 -4 -10 -10
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Time (sec)
6.10
m/s
m
200
22 -5 -2
0 20 -10 -4
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement za Vertical Velocity z a Yaw Angle v Yaw Rate v
0 0.5 50 20
40
deg/s
30 10
deg
m/s
m
-0.1 0 20
10 0
0
-0.2 -0.5 -10 -10
0 5 10 0 5 10 0 5 10 0 5 10
Pitch Angle v Pitch Rate v Roll Angle v Roll Rate v
2 5 5 5
4
deg/s
deg/s
3
deg
deg
1 0 2 0
1
0
0 -5 -1 -5
0 5 10 0 5 10 0 5 10 0 5 10
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
80 80 80 80
rad/s
rad/s
rad/s
rad/s
75 75 75 75
70 70 70 70
0 5 10 0 5 10 0 5 10 0 5 10
Suspension Displacement Ha1 Suspension Displacement Ha2 Suspension Displacement Ha3 Suspension Displacement Ha4
0.4 0.4 0.2 0.2
m
0 0 0 0
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Time (sec)
6.11
70
6.2
a
xg 0.2104 0.2687 0.2701 m
yg 0.1910 0.4207 0.2749 m
zg 0.1219 0.1271 0.2556 m
6.6
71
72
7.1
1
2
73
I x v , x I y I z v , yv , z M x
I y v , y I z I x v , zv , x M y
I z v , z I x I y v , xv , y M z
I wheel i ri Fa ,tire ,i Tb ,i Tm ,i (i 1 ~ 4)
2.16
K spring C1eC2 ( H i C3 )
H a ,i , for H a ,i mu ,i g / K spring
H a ,i
mu ,i g / K spring , for H a ,i mu ,i g / K spring
7.1
Fa ,tire,i C ,i i
(7.3)
Fb,tire,i C ,i i
4
x 10
6000 1
Fz=4877 N Fz=4877 N
0.8
4000
0.6
Longitudinal tire force (N)
0.4
2000
0.2
0 0
Linear Region Linear Region
-0.2
-2000
-0.4
-0.6
-4000
-0.8
-6000 -1
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
Slip ratio Slip angle (rad)
7.1
4877N
74
2.17
C ,i Dx C x Bx Fz ,spring ,i
C ,i D y C y B y
Fz ,spring ,i
7.3 C ,i i C ,i i
2.19
1 2 , 3 4
7.3
C , f C ,1 C , 2
C ,r C ,3 C , 4
f 1 2 / 2
r 3 4 / 2
75
K spring Ddamper
mu ri I wheel
7.2
Parameter Observability
[67]
1
2
3
4
7.1
Ax b (7.5)
x x mtot , C , f , C ,r , I x , I y , I z , C ,1 , C , 2 , C ,3 , C , 4 T
A b
A
1 A Full Rank
x A 1b 2Singular
76
ValuesDegree of Observability2
7.2.1
7.5 10
10
7.5 10 12
7.5
[11][30][31][34][35]
7.5 A
a11 za Ga , z (7.7)
f sin 1 2 2 0
a
22
1 2 (7.8)
f cos 2 r
2
DegreeofObservabilityConditionNumber
MinimumEigenvalue[76][77]
77
v , x v , yv , z v , yv , z
a v , z v , x
33
v , y v , z v , x (7.9)
v , x v , y
v , xv , y v, z
r11 0 0 0
0 r2 2 0 0
a 44 (7.10)
0 0 r3 3 0
0 0 0 r4 4
7.7
za Ga , z
7.8 a 22
1 2 0
f 0, r 0
7.9 a 23
v , x 0, v , y 0, v , z 0
7.10 a 34
1 0, 2 0, 3 0, 4 0
sizeA 10 10
1 A
2 A
78
7.2.2
7.77.8
a 22
7.9
a 23 7.10
a 34
[11][19]
7.3
7.3.1
7.5
Unconstrained Optimization Problem
Cost Function
79
A1 b1
A
min 2 x b 2 (7.11)
A k b k
A1 , A 2 , , A k b1 , b 2 , , b k t 1, 2,, k
A b
Weighting MatrixScaling
Matrix7.12
QA1W Qb1
QA W
min 2 W 1x Qb 2 (7.12)
QA k W Qb k
Q W
7.12
A
QAW
T
PQ ,k 1 PQ ,k PQ ,k A Q ,k 1 I A Q ,k 1PQ ,k A Q ,k 1
T 1
A Q ,k 1PQ ,k
T
xQ ,k 1 xQ ,k PQ ,k 1A Q ,k 1 Qb k 1 A Q ,k 1xQ ,k (7.13)
A Q ,k 1 QA k 1W
xQ ,k 1 W 1x k 1
80
PQ Covariance Matrix k k 1
t k t k 1
7.3.2
C ,1 , C , 2 , C ,3 , C , 4
1
Q a A a W a W a x a Q ab a (7.14)
x a C ,1 , C , 2 , C ,3 , C , 4 T
I wheel1 Tb ,1 Tm ,1
I wheel 2 Tb , 2 Tm , 2
b
a
I T T
wheel 3 b ,3 m,3
I wheel 4 Tb , 4 Tm , 4
7.3.3
mtot
1
Qb A b W b W b x b Qbbb (7.15)
81
x b mtot
A b za G a , z
b b K spring H a ,i Ddamper H a ,i mu ,i g
Q b q1b
W b w1b
7.3.4
C , f , C ,r
1
Q c A c W c W c x c Q cb c (7.16)
x c C , f , C ,r T
sin 1 2 2 0
Ac f 1 2
f cos 2 r
m x y
G a , x C ,i i cos i
b c tot
y x
a a v
v Ga , y C ,i i sin i
mtot
a a
Q c diag{q1c , q 2c }
W c diag{w1c , w2c }
7.3.5
I x , I y , I z
1
Qd Ad Wd Wd xd Qd bd (7.17)
82
xd I x , I y , I z T
v , x v , y v , z v , y v , z
A d v , z v , x v , y v , z v , x
v , x v , y v , z
v,x v, y
b d M x , M x , M z
T
Q d diag{q1d , q 2d , q3d }
7.147.17 10
7.4
7.2
C ,1 , C , 2 , C ,3 , C , 4 mtot C , f , C ,r
I x , I y , I z
83
7.2
7.5
MATLAB
90 r 2 deg
r 2 deg 7.3
1
sw 360 sin 2 2 t deg Tm Tb 300 cos2 2 t Nm 2
7.4 7.9
84
7.3
123
i 0, i 0
Steering Maneuvers
360
270 Driver maneuver in case 1
180 Driver maneuver in case 2
90
deg
0 90 deg
-90
-180 -90 deg
-270
-360
0 1 2 3 4 5 6 7 8 9 10
200
100
N-m
0
0 N-m
-100
-200
-300
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
7.3
7.5.1
7.3
7.4
85
Longitudinal Displacement xa Longitudinal Velocity x a Rotational Velocity x Wheel Angular Rate 1
200 25 50 80
20
deg/s
rad/s
m/s
m
100 0 60
15
0 10 -50 40
0 5 10 0 5 10 0 5 10 0 5 10
0 10
deg/s
rad/s
m/s
m
0 60
-2 0
-4 -5 -10 40
0 5 10 0 5 10 0 5 10 0 5 10
-0.11
deg/s
rad/s
m/s
m
0 0 60
-0.12
rad/s
deg
deg
60
x label: Time (sec) 1.5 -2
1 -3 40
0 5 10 0 5 10 0 5 10
7.4
7.5
1739.91
kg 419.50 kg-m2 2462.95 kg-m 2
3354.30
kg-m 2
7.6
74550.63 N79404.84 N31618.82 N 50426.31 N
40029.38 N/rad 39013.83 N/rad
7.1
86
kg-m 2
500
kg
1735 2
450
Mean value: 419.50 kg-m
1730
3800
2600
Mean value: 3354.30 kg-m2
2
2
3600
kg-m
kg-m
2400
3400
2200
Mean value: 2462.95 kg-m2
3200
2000 3000
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
7.5
4.5
0 Mean value: 40029.38 N/rad
N/rad
x 10
5 Tracking stiffiness C,2
3 3.5
2 Real vehicle parameters
Vehicle parameter identification system
N
1
0 3
-1
Mean value: 79404.84 0 2 4 6 8 10
0 2 4 N
6 8 10
x 10
5 Tracking stiffiness C,3 4 Cornering stiffiness C ,r
2 x 10
5
1
N
0
4.5
-1 Mean value: 31618.82 N
0 2 4 6 8 10
N/rad
0
-1
Mean value: 50426.31 N 3
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
7.6
87
20 10
deg/s
rad/s
m/s
m 100 60
15 0
0 10 -10 40
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
5
rad/s
m/s
m
2 60
0 0
0
-10 -5 -2 40
0 5 10 0 5 10 0 5 10 0 5 10
deg/s
rad/s
m/s
m
-0.117 0 0 60
-0.118 -20
-0.119 -0.01 -40 40
0 5 10 0 5 10 0 5 10 0 5 10
rad/s
deg
deg
x label: Time (sec) 1.5 -1.5 60
1 -2
0.5 -2.5 40
0 5 10 0 5 10 0 5 10
7.7
7.5.2
7.3
7.7
7.8 7.9
7.2.1
7.1
7.8
y z 7.7
7.9
88
7.2 7.8
kg-m 2
2
kg
1735
1
1730
Moment of Inertia I y x 10
4 Moment of Inertia I z
4000 4
2
3000 Mean value: 9782.52 kg-m
3
2000
2
kg-m 2
2
kg-m
1000
1
0
2 0
-1000 Mean value: 331.30 kg-m
-2000 -1
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
7.8
5 Tracking stiffiness C ,1 x 10
5 Cornering stiffiness C ,f
x 10 5
2
Real vehicle parameters
1
Mean value: -4293.30 N 4 Vehicle parameter identification system
N
0
3
N/rad
-1
0 2 4 6 8 10
2
x 10
5 Tracking stiffiness C ,2
2 Mean value: 26531.17 N/rad
1
1 Mean value: -4528.94 N
N
0 0
0 2 4 6 8 10
-1
0 2 4 6 8 10
x 10
4 Tracking stiffiness C ,3 5 Cornering stiffiness C ,r
15 x 10
5
10
Mean value: -4303.51 N
N
5
4
0
-5
0 2 4 6 8 10 3
N/rad
x 10
4 Tracking stiffiness C ,4
15 2
10
Mean value: 32240.62
Mean value: -4469.18 N
N
5 1
0 N/rad
-5 0
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
7.9
89
7.1
a b
mtot kg 1740 1739.91 1739.23 0.0052% 0.04%
x
Ix kg-m2 420 419.50 8762.21 0.12% -1.99e5
Iy kg-m2 2594 2462.95 331.30 5.05% 87.23%
y
Iz kg-m2 3214 3354.30 9782.52 4.37% -204.37%
z
C ,1 N 162360 c 74550.63 -4293.30 54.08% 102.64%
C , 2 N 162360 c 79404.84 -4528.94 51.09% 102.79%
C ,3 N 114645 c 31618.82 -4303.51 72.42% 103.75%
C , 4 N 114645 c 50426.31 -4469.18 56.02% 103.90%
C , f N/rad 46856 c 40029.38 26531.17 14.57% 43.38%
C ,r N/rad 41872 c 39013.83 32240.62 6.86% 23.00%
a
5 10
b
/1[69]
c
7.5
7.5.3
7.1
5.1%
7.10 7.11
90
7.10
7.11
91
X
7.10
7.10
vs.
7.11
15%
73%
7.12
5 10 400 N
-2000
2000
Front-left tire (Error Mean: 351.15 N)
N
-4000
1000
Front-right tire (Error Mean: 399.94 N)
-6000
Rear-right tire (Error Mean: 327.14 N) 0
-8000 Rear-left tire (Error Mean: 368.92 N) -1000
9 9.2 9.4 9.6 9.8 10
-10000
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
The error of the lateral force
2000
-2000
2000
N
-4000
Front tire (Error Mean: 234.11 N) 1000
Rear tire (Error Mean: 223.51 N)
0
-6000
-1000
9 9.2 9.4 9.6 9.8 10
-8000
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
7.12
92
3
7.2
38 dB 79.43 7.5 7.6
30 dB 31.62
y
7.8
7.9
12
7.2
7.2
dB
a
m/s2 2.359 0.516 0.02 41.43 28.23
2
m/s 2.669 6.624 0.02 42.51 50.40
2
m/s 9.804 9.797 0.02 53.81 53.80
x rad/s 0.292 0.060 0.0014 46.39 32.64
y rad/s 0.115 0.043 0.0014 38.29 29.75
z rad/s 0.538 0.379 0.0014 51.69 48.65
rad/s 59.662 58.792 0.035 64.63 64.51
rad/s 59.708 58.472 0.035 64.64 64.46
rad/s 60.080 59.277 0.035 64.69 64.58
rad/s 60.148 59.452 0.035 64.70 64.60
a
6.1
3
SignaltonoiseRatio,SNR 20log10[78]
93
7.5.4
r
17.16
1 4
7.13
7.3
7.1
4
EpsonToyocom XV8000
ElectronicStability
ControlRollover
ProtectionSystem
94
x x
0.4m 0.4m 0.4m n n
1 1.05 m 1 2
0.35 m 0.35 m
y
1.4 m
1.05 m
1 2 1 2
0.35 m 0.35 m
y y
0.35 m 0.35 m
3 1.4 m 3 4
7.13 1 2 3 4
7.3
a I x (A) I y (B) (A)+(C) (B)+(C)
(C)
1 0.076 % 0.010 % 3.45 % 3.53 % 3.46 %
2 0 0.037 % 6.90 % 6.90 % 6.94 %
3 0.071 % 0.009 % 10.34 % 10.41 % 10.35 %
4 0 0 13.79 % 13.79 % 13.79 %
a
60 kg-0.4, 0.35
0.4, 0.35
-0.4, -0.35
0.4, -0.35
7.6
95
7.61
234
55%
6%
96
8.1
-
MATLAB ode45.m
97
8.2
8.1
8.1
8.3
MATLAB
Tm Tb 300 cos2 2 t Nm 90
r 2 deg r 2 deg
98
Steering Maneuvers
400
360 deg
200
Turn on
deg
0
the vehicle dynamic prediction system
-200
-400
8 9 10 11 12 13 14 15
200
100 Turn on
the vehicle dynamic prediction system
N-m
0
0 N-m
-100
-200
-300
8 9 10 11 12 13 14 15
Time (sec)
8.2
Steering Maneuvers
400
360 deg
200
Turn on
deg
0
the vehicle dynamic prediction system
-200
-400
8 9 10 11 12 13 14 15
400
Turn on
the vehicle dynamic prediction system
Wheel torques on the left two tires
0
0 N-m
-400
8 9 10 11 12 13 14 15
Time (sec)
8.3
10.25
99
8.2 2
8.3 8.4 8.5
8.3.1
10.25 8.2
8.4
10.25
0.51%
8.3.2
10.25
Tm ,3 Tb ,3 Tm , 4 Tb , 4 1000 Nm 8.3
8.5
10.25
27.3%
100
m/s
m/s
m
m
200 8
-3 -2
6
180 4 -4 -4
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Vertical Displacement z a Vertical Velocity z a Vehicle Yaw Angle v Vehicle Yaw Rate v
-0.08 0.2 250 100
200
-0.1
deg/s
150
deg
m/s
m
0 50
100
-0.12
50
-0.14 -0.2 0 0
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Vehicle Pitch Angle v Vehicle Pitch Rate v Vehicle Roll Angle v Vehicle Roll Rate v
2 5 15 40
20
1.5 10
deg/s
deg/s
deg
deg
0 0
1 5
-20
0.5 -5 0 -40
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
40 40 40 40
30 30 30
rad/s
rad/s
rad/s
rad/s
30
20 20 20
10 20 10 10
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Time (sec) Time (sec) Time (sec)dynamics
Real vehicle Time
Vehicle dynamic (sec) system
prediction
8.4
m/s
m
190 -4 -2
5
-6 -4
180 0 -8 -6
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Vertical Displacement z a Vertical Velocity z a Vehicle Yaw Angle v Vehicle Yaw Rate v
3 150 150
0.4 2
100 100
deg/s
deg
m/s
m
0.2 1
50 50
0 0
-0.2 -1 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Vehicle Pitch Angle v Vehicle Pitch Rate v Vehicle Roll Angle v Vehicle Roll Rate v
2 10 100 600
1 0 400
deg/s
deg/s
deg
deg
50
0 -10 200
-1 -20 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
40 50 60 39
40
35 38
rad/s
rad/s
rad/s
rad/s
30 40
30 37
20
25 10 20 36
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Time (sec) Time (sec) Timevehicle
Real (sec)dynamics Time
Vehicle dynamic (sec) system
prediction
8.5
101
8.1
a b
0.21% 0.0052%
0.0787% 3.18%
0.0149% 58.40%
4.53% 10.72%
0.53%
0.0771%
a
5 10
b
7.1
8.2
0.51% 0.17%
27.30% 7.62%
8.3.3
0.51% 27.3%
123
5.1
vs.
8.6 8.7
8.2
102
m/s
m/s
m
m
200 8
-3 -2
6
180 4 -4 -4
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Vertical Displacement z a Vertical Velocity z a Vehicle Yaw Angle v Vehicle Yaw Rate v
-0.1 0.1 300 80
60
-0.11 200
deg/s
deg
m/s
m
0 40
-0.12 100
20
-0.13 -0.1 0 0
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Vehicle Pitch Angle v Vehicle Pitch Rate v Vehicle Roll Angle v Vehicle Roll Rate v
5 10 20
1.4 8
10
deg/s
deg/s
deg
deg
1.2 0 6
0
1 4
0.8 -5 2 -10
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
40 40 40 40
30 30
rad/s
rad/s
rad/s
rad/s
30 30
20 20
10 20 20 10
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Time (sec) Time (sec) Time (sec)dynamics
Real vehicle Time
Vehicle dynamic (sec) system
prediction
8.6
Longitudinal Displacement x a
200 Longitudinal Velocity x a Lateral Displacement y a Lateral Velocity y a
15 0 5
195
10 0
m/s
m/s
m
190 -5
5 -5
185
0 -10 -10
180 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
10 10.5 11 11.5 12
Vertical Displacement z a Vertical Velocity z a Vehicle Yaw Angle v Vehicle Yaw Rate v
1 2 200 150
0.5 1 100
deg/s
deg
m/s
m
100
0 0 50
-0.5 -1 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Vehicle Pitch Angle v Vehicle Pitch Rate v Vehicle Roll Angle v Vehicle Roll Rate v
2 10 100 400
1 0
deg/s
deg/s
deg
deg
50 200
0 -10
-1 -20 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
40 60 50 40
35 40 40 38
rad/s
rad/s
rad/s
rad/s
30 20 30 36
25 0 20 34
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Time (sec) Time (sec) Time (sec)dynamics
Real vehicle Time
Vehicle dynamic (sec) system
prediction
8.7
103
X
10.25
10.25
8.6 8.7
8.8
104
8.9
1)
2)
8.4 Carsim
Carsim
105
Carsim
106
107
8.4.1
12
Carsim 205/60R14 8.11
8.12 8.11 8.12
5000N 0.85
0.05
4
Carsim
60 r 0 deg r 0 deg
8.14 8.16
10
8.17 Carsim
Big Car
108
Steering Maneuvers
90
60
30
deg
-30
-60
-90
0 2 4 6 8 10 12
Turn on
the vehicle dynamic prediction
Wheel Torques Applying on Tires system
500
400
300
N-m
200
100
0
-100
-200
0 2 4 6 8 10 12
Time (sec)
8.13 Carsim
mtot 1707 kg l f 1.014 m
X
Ix 606.1 kg-m2 1.676 m
lr
Y
Iy 2741.9 kg-m2 t f 0.770 m
Z
2741.9 kg-m2 0.765 m
Iz tr
m u1 , m u 2 50 kg I wheel 0.9 kg-m2
mu 3 , mu 4 40 kg 0.301 m
r
a
78601 N C f 118183 N/rad
C 1 , C 2
C3 , C 4 51403 N C r 85768 N/rad
a
8.11 8.12
109
8.4.2
8.13 0 10
8.14
8.14
1
2Carsim SIMULINK
Numerical Error
8.15
1706.44 kg
225.45 kg-m22758.30 kg-m2 2541.88 kg-m2 8.16
73513.70 N77583.34
N 70693.63 N 59973.26 N
68971.39 N/rad 69747.30 N/rad 8.15 8.16
x
10
8.13
8.17
6.83
10 12 3.92%
1
110
Logitudinal Displacement xg Logitudinal Velocity xg Absolute Roll Angle g Road Bank Angle r
200 30 1 0.01
150 0.5
25 0
deg
deg
m/s
m 100 0
Real vehicle dynamics
Sensor output 20 -0.01
50 -0.5
Sensor fusion system
0 15 -1 -0.02
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement yg Lateral Velocity yg Absolute Pitch Angle g Road Grade Angle r
3 0 0.04
0.8
0.6 0.02
2 -0.2
deg
deg
0.4
m/s
m
0
1 0.2 -0.4
0 -0.02
0 -0.2 -0.6 -0.04
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement zg Vertical Velocity zg Absolute Yaw Angle g Vehicle Yaw Angle v
0.544 4 4
0.04
0.542 0.02 2 2
deg
deg
m/s
m
0.54 0
0 0
0.538 -0.02
0.536 -0.04 -2 -2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Time (sec)
8.14 Carsim
1705 700
1700
Mean value: 1706.44 kg 600
2
kg-m
kg
1695 500
1690 400
1685
Real vehicle parameters 300 Mean value: 225.45 kg-m2
Vehicle parameter identification system
1680 200
0 2 4 6 8 10 0 2 4 6 8 10
3500 3500
2
2
2
2
kg-m 2
3000 3000
2500 2500
2000 2000
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
8.15 Carsim
111
4
x 10 Tracking stiffiness C,1 x 10
4 Cornering stiffiness C ,f
8 12
7
N 10
6
Mean value: 68971.39 N/rad
Mean value: 73513.70 N
N/rad
5 8
0 2 4 6 8 10
4
x 10 Tracking stiffiness C,2 6
N/rad
8
4
x 10 Tracking stiffiness C,4
6
6
Mean value: 69747.30 N/rad
N
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
8.16 Carsim
m/s
m
260 29 3.5
1
240 28 3
220 27 2.5 0
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
0.55 4
deg
m/s
m
0.02 -20
2
0.54 0 0 -40
-0.02 -2 -60
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
deg/s
0
deg
deg
-50 0
-5 -10 -100
-10 -20 -150 -200
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
Wheel Angular Rate Wheel Angular Rate Wheel Angular Rate Wheel Angular Rate
1 2 3 4
105 105 105 105
rad/s
rad/s
rad/s
95 95 95 95
90 90 90 90
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
Time (sec) Time (sec) Time
Real (sec)dynamics
vehicle Time
Vehicle dynamic (sec) system
prediction
8.17 Carsim
112
8.4.3
Carsim
State Value
8.5
0.51% 27.3%
113
0.51%
0.17% 27.30% 7.62%
1
2
2 3.92%
114
Control Distribution
System Robustness Minimum Control
EffortSliding Mode Control Method
Optimization Problem
Level 1
Level 2
Level 3
9.1 [52]
115
9.1
9.1
Lyapunov Function
9.2
1)
2)
3) i 0
116
4)
2.21 3 4 0
9.1 M
T
Fb,tire,i C ,i i (9.2)
117
C ,i D y C y B y
Fz ,spring ,si
Fz , spring , si i
x a , y a x g , y g
x g xa cos v y a sin v
(9.3)
y g xa sin v y a cos v
Fa ,tire,i
Twheel ,i Tm ,i Tb ,i
9.1
9.19.4
[80]
9.3
118
x y
x y
x x g
y y gref
9.3.1
v A0 A B 0 B Fa 0 Fa (9.5)
A0 ( Fb ,tire ,1l f cos 1 Fb ,tire ,1t f sin 1 Fb ,tire , 2lr cos 2 Fb ,tire , 2lr sin 2
Fb 3lr Fb 4lr ) / I z
B 0 B1 , B2 , B3 , B4
l f sin 1 t f cos 1 / I z , l f sin 2 t f cos 2 / I z , t r / I z , t r / I z
B B1 , B2 , B3 , B4
Fa 0 Fa ,tire ,1 , Fa ,tire , 2 , Fa ,tire ,3 , Fa ,tire , 4
T
A0 B0 9.1 Fa 0
A A0 B B 0
Fa Fa 0
1
2
119
1 2 1 2
V s e (9.6)
2 2
s y g y gref v1 y g y gref
e v vref
v1 vref
V Vp1 Vp 2 Vp 3 (9.7)
Vp1 1s 2 2e 2 x g se
Vp 2 xa sin v ya cos v s x g vref s ygref s sv1 y g y gref 1s 2
Vp 3 ev evref 2e 2
1 , 2 1 , 2 Vp1
Negative Semi-definite Vp 2 Vp 3
9.3.2
9.7
9.89.7 Vp 2
Vp 2 xa sin v ya cos v s s 2 / 1
(9.9)
1 s 2 / 1 for s 1
120
Vp 2 1
9.39.7 Vp 3
Vp 3 e A0 A B 0 B Fa 0 Fa vref 2e
(9.10)
A eB 0Fa 0 e B1 Fa ,tire,1 e B 2 Fa ,tire, 2 e B 3 Fa ,tire,3 e B 4 Fa ,tire, 4
A eA0 e A e B 0 2 F e B F evref 2 e 2
F sup Fa t 2
tt ,
A sup At
tt ,
Bi sup Bi t for i 1 ~ 4
tt ,
B B1 2 B 2 2 B 3 2 B 4 2
9.3.3
9.10
9.3.3.1
121
1 T
min Fa 0 Q c Fa 0
2
subject to A eB 0Fa 0 e B1 Fa ,tire,1 e B 2 Fa ,tire, 2 e B 3 Fa ,tire,3 (9.11)
e B 4 Fa ,tire, 4 2e 2
Fa ,tire,3 , Fa ,tire, 4 0
Q c diagonalq c1 , q c2 , q c3 , q c4
1
qci Fz ,spring ,i for i 1 ~ 4
9.11
9.11
Vp 3 2 e 2 (9.12)
9.129.10
Q c
122
9.3.3.2
9.11 2
A2 B 0Fa 0 B1 Fa ,tire,1 B 2 Fa ,tire, 2 B 3 Fa ,tire,3 B 4 Fa ,tire, 4 e / 2 2e 0 (9.13)
A2 A0 A B 0 2 F B F e / 2 vref 2e
Vp 3 2e 2 / 2 for e 2 (9.14)
9.119.13
9.129.14
9.3.4
Variable Transformation
Karush-Kuhn-Tucker Condition, KKT Condition
123
9.3.4.1
[81]
Fa ,tire,n , if Fa ,tire,n 0
Fa,tire,n
0, if Fa ,tire,n 0
0, if Fa ,tire,n 0
Fa,tire,n
Fa ,tire,n , if Fa ,tire,n 0
Fa,tire,n , Fa,tire,n 0
(9.15)9.11
min
1 2
2
2
2 2
qc1 Fa ,tire,1 Fa,tire,1 qc 2 Fa,tire, 2 Fa,tire, 2 qc 3 Fa ,tire,3 qc 4 Fa ,tire, 4
2
subject to C DFa 0 (9.16)
Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 0
C A 2e2
D D1 , D1 , D2 , D2 , D3 , D4
[eB1 e B1 , eB1 e B1 , eB2 e B 2 ,
eB2 e B 2 , eB3 e B 3 , eB4 e B 4 ]
Fa Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 T
124
9.13
C DFa 0 C , D
min
1 2
2
2
2
2
qc1 Fa ,tire,1 Fa,tire,1 qc 2 Fa,tire, 2 Fa,tire, 2 qc 3 Fa ,tire,3 qc 4 Fa ,tire, 4
2
subject to C DFa 0
Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 0 (9.17)
C A2 2e
D [ B1 e B1 / 2 , B1 e B1 / 2 , B2 e B 2 / 2 ,
B2 e B 2 / 2 , B3 e B 3 / 2 , B4 e B 4 / 2 ]
9.3.4.2
Local Minimizer[82]
Convex Optimization
Global Minimizer
min f(x)
subject to h(x) 0 (9.18)
g(x) 0
x n f n 1 h n m , m n g n p x*
125
k 0
T T
f(x* ) k h(x* ) k g(x* ) 0T
T
k g(x* ) 0 (9.19)
h(x* ) 0
g(x* ) 0
KKT ki KKT
Active g(x* ) 0
KKT Inactive
g(x* ) 0
9.16
qc1 Fa,tire,1 Fa,tire,1 k1 D1 k1 0
2
qc1
2
F
a ,tire ,1 Fa,tire,1
k1 D1 k2 0
qc 2
2
F
a ,tire , 2 Fa,tire, 2
k1 D2 k3 0
qc 2
2
F
a ,tire , 2 Fa,tire, 2
k1 D2 k4 0
qc 3 Fa ,tire,3 k1 D3 k5 0
2
(9.20)
qc 4 Fa ,tire, 4 k1D4 k6 0
2
9.20 ki 0 ki 0 i 1 ~ 6
64
26 64
126
Case I : k1 0, k2 0, k3 0, k4 0, k5 0, k6 0
Fa,tire,1 k1D1 / qc1
2
k2 k1 D1 D1
Fa,tire,1 0 k3 k1 D2 D2
Fa,tire, 2 0 k6 k1D4
(9.21)
Fa,tire, 2 k1 D2 / qc 2
2
Fa ,tire,3 k1 D3 / qc 3
2
Fa ,tire, 4 0
2 2
k1 C / D1 / qc12 D2 / qc 2 2 D3 2 / qc 3 2
Case II : k1 0, k2 0, k3 0, k4 0, k5 0, k6 0
Fa,tire,1 0 k1 k1 D1 D1
Fa,tire,1 k1 D1 / qc1
2
k4 k1 D2 D2
Fa,tire, 2 k1D2 / qc 2 k5 k1D3
2
Fa,tire, 2 0
Fa ,tire,3 0
Fa ,tire, 4 k1D4 / qc 4
2
2 2
k1 C / D1 / qc12 D2 / qc 2 2 D4 2 / qc 4 2
Case I
Case II
9.3.5
9.4
Fa ,tire,i Twheel ,i
Uncertainty
1
127
2 Fa
s 1
e 2
9.7
9.4
9.4.1
9.3
xg , x g y g , y g
v , v Fz ,spring ,1~ 4 r , r
mtot z I z
9.4.2
r 0, r 0 9.2 100
y gref x g
3 3
(9.22)
1 exp[0.08( xg 145)] 1 exp[0.08( xg 385)]
128
90 =25 m/s
1 2 0
y gref xg
3 3
1 exp[0.08( xg 145)] 1 exp[0.08( xg 385)]
3m
cone
y
x
global frame {g}
9.2
9.4.3
1
2Carsim E-class Sedan Model in Carsim 7.1
9.1
Carsim model
9.3
Carsim
129
200
Steering Wheel
Angle (deg)
100
-100
-200
0 2 4 6 8 10 12 14 16 18 20
Longitudinal Velocity
30 30
3-DOF model 3-DOF model
25 25
Carsim model Full-state vehicle model
(m/sec)
20 20
15 15
10 10
5 5
0 5 10 15 20 0 5 10 15 20
2 2
Lateral Velocity
1 0
(m/sec)
-2
0
-4
-1 -6
-2 -8
0 5 10 15 20 0 5 10 15 20
80 80
60 60
Yaw Rate
(deg/sec)
40 40
20 20
0 0
-20 -20
-40 -40
-60 -60
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
9.3 Carsim
Carsim
Carsim
Carsim
130
100 Hz
9.2
9.4 9.14 9.16
9.17 9.4 9.9 9.13 9.16
9.1
Carsim Carsim
mtot 1740 kg 2013 kg l f 1.05 m 1.402 m
X
Ix 420 kg-m2 614 kg-m2 1.4 m 1.646 m
lr
Y
Iy 2594 kg-m2 2765 kg-m2 t f 0.725 m 0.8 m
Z
3124 kg-m2 2765 kg-m2 0.725 m 0.801 m
Iz tr
I wheel 2.03 kg-m2 0.9 kg-m2 0.3 m 0.364 m
r
9.2
1 0.1 1 1 1 7.5
2 0.1 2 0.01 2 22
A 0.05 B1~ 4 1e-6 F 100
v1 1 3
131
9.4.4 I
9.16
9.4
90 =25 m/s
86 =23.9 m/s 0.0318
9.5
a) Trajectory Following
Lateral Position y (m)
3.5
3 Reference trajectroy
g
2 0.5
3.8 3.9 4 4.1 4.2 4.3 4.4
0
-2 Reference yaw rate
Vehicle yaw rate
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
c) Longitudinal Velocity
25
24.5
m/sec
24
23.5
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.4 ab
c
25 23.9
132
Torque acting on the front-left tire Torque acting on the front-right tire
200 200
150
100
100
Torque (Nm)
Torque (Nm)
50
0
0
-50
-100
-100
-150 -200
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
Torque acting on the rear-left tire Torque acting on the rear-right tire
20 20
0 0
Torque (Nm)
Torque (Nm)
-20 -20
-40 -40
-60 -60
-80 -80
-100 -100
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
9.5
Low-pass
Filter
9.6 25 Hz
5 Hz 5 Hz
100 Hz 5 Hz
0.2696 z 1
GLPF z (9.23)
1 0.7304 z 1
2
Torque acting on the rear-left tire
0
0 5 10 15 20 25 30 35 40 45 50
Frequency (Hz)
9.6 25 Hz
133
Torque acting on the front-left tire Torque acting on the front-right tire
200 200
100 100
Torque (Nm)
Torque (Nm)
0 0
-100 -100
-200 -200
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
Torque acting on the rear-left tire Torque acting on the rear-right tire
20 20
0 0
Torque (Nm)
Torque (Nm)
-20 -20
-40 -40
-60 -60
-80 -80
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
9.7
0.5
0
0 5 10 15 20 25 30 35 40 45 50
Frequency (Hz)
9.8 12.5 Hz
9.7
9.8 12.5 Hz
134
9.179.16 9.9
9.11
9.2 9.10
a) Trajectory Following
Lateral Position y (m)
3.5
3 Reference trajectroy
g
2 0.5
3.8 3.9 4 4.1 4.2 4.3 4.4
0
-2 Reference yaw rate
Vehicle yaw rate
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
c) Longitudinal Velocity
25
24.9
m/sec
24.8
24.7
24.6
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.9 a
bc
25 24.6
135
Torque acting on the front-left tire Torque acting on the front-right tire
200 200
100 100
Torque (Nm)
Torque (Nm)
0 0
-100 -100
-200 -200
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
Torque acting on the rear-left tire Torque acting on the rear-right tire
20 20
0 0
Torque (Nm)
Torque (Nm)
-20 -20
-40 -40
-60 -60
-80 -80
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
9.10
3
m/s2
2
Design Parameter
1
0
0 2 4 6 8 10 12 14 16 18 20
System Uncertainties | A|
0.1
Design Parameter
A
rad/s2
0.05
0
0 2 4 6 8 10 12 14 16 18 20
-6
System Uncertainties | Bi|
x 10
2
B1 B2 B3 B4
1
| B | | B |
2 1
0.5
| B | | B |
4 3
0
0 2 4 6 8 10 12 14 16 18 20
60 F
40
20
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.11
136
9.4.5 IICarsim
9.12 Carsim
SIMULINK/MATLAB
9.17
Carsim
9.12 Carsim
9.13
1 1.56, 2 100
0.019 9.14
137
a) Trajectory Following
2
deg/sec
20
15
0 5 10 15 20 25
Time (sec)
9.13 a Carsim
bc
25 15.3
Torque acting on the front-left tire Torque acting on the front-right tire
400 400
200 200
Torque (Nm)
Torque (Nm)
0 0
-200 -200
-400 -400
0 5 10 15 20 25 0 5 10 15 20 25
Time (sec) Time (sec)
Torque acting on the rear-left tire Torque acting on the rear-right tire
50 50
0 0
Torque (Nm)
Torque (Nm)
-50
-50
-100
-100
-150
-200 -150
-250 -200
0 5 10 15 20 25 0 5 10 15 20 25
Time (sec) Time (sec)
9.14 Carsim
138
9.4.6
1 9.15
1
9.17
9.4.4
y gref xg
3 3
1 exp[0.08( xg 145)] 1 exp[0.08( xg 385)]
y g y gref 3m
yg y ref
g
y
x 1
global frame {g}
9.15
9.16
139
a) Trajectory Following
2
deg/sec
24.9
m/sec
24.8
24.7
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.16 a
bc 25
24.7
Torque acting on the front-left tire Torque acting on the front-right tire
100 100
Torque (Nm)
Torque (Nm)
50 50
0 0
-50 -50
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
Torque acting on the rear-left tire Torque acting on the rear-right tire
5 5
0 0
Torque (Nm)
Torque (Nm)
-5 -5
-10 -10
-15 -15
-20 -20
-25 -25
0 5 10 15 20 0 5 10 15 20
Time (sec) Time (sec)
9.17
140
9.5
9.5.1
9.16
9.5 9.16
e
M 2 2 e NFa 0 (9.24)
M A0 A B0 2 F B F signe vref
N [ B1 B1signe, B1 B1signe, B2 B 2signe,
B2 B 2signe, B3 B 3signe, B4 B 4signe]
sign
M N
N B1~ 4 M
A0 0, vref 0 A , B , F
Fa
A , B , F B1~ 4
141
e 2 2 2 2 M N
A , B , F B1~ 4
x 10
4 Longitudinal tire force vs. Slip ratio vs. Vertical loads
1.5
Fz = 10100 N
1
Fz = 7900 N
Fz = 6120 N
0.5 Fz = 3995 N
Longitudinal force (N)
Fz = 2105 N
-0.5
-1
-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Slip ratio
9.18 Carsim
9.5.2
9.11 9.18
142
Carsim
9.4
9.5.3
[52][55][56]
First Guess
9.21
9.69.8
9.169.179.21
150 5Digital
Signal Processor 20 ns
10 s 10 ms
9.21
Fa 4
5
TM320CF28xx [83] 32
60MHz 16.67ns
143
5000 N 9.19
0.006
0.00564
9.21
6
Cost Function
0
5000
4000
Fro
nt-R 30002000 4000
5000
ight 1000 3000
long 0 2000 (N )
itud -1000 1000 forc e
inal
tire -2000 -1000
0 in al tire
forc -3000 -2000 ngitud
e (N -4000 -4000
-3000
ro n t-L lo
eft
) -5000 -5000 F
Cost Function
5000 6
4 Analytical Solution: [-265.8762, 373.7029, 0, -190.7] T
5.5
4000 Cost Function: 0.00564189
3
Front-Right longitudinal tire force (N)
5
3000 2
4.5
2000
0.006 4
1000 1 3.5
0 3
0.01
-1000 0.05 1 2.5
0.1 2
-2000
1.5
-3000 2
3 1
1 4
-4000 0.5
5
6
-5000
-5000 -4000 -3000 -2000 -1000 0 1000 2000 3000 4000 5000
Front-Left longitudinal tire force (N)
9.19
144
9.5.4
9.4.4
9.9 9.109.4.6
9.16
9.17
9.20 i 1 Twheel ,i
4
2
0
-2
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
b) Vehicle Velocity
25
24.9
m/sec
24.8
24.7
24.6
24.5
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
c) Total Tire Torque
100
0
Nm
-100
-200
-300
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.20 a
bc
145
9.20
0.5
9.20
66020 N 105355
N 37.34%[5]
0.2997
0.1307
9.6
1
2
Carsim 90
146
0.032
0.5 52.42%
37.34%
0.2997 0.1307
147
10.1
1
2
0.21% 4.3%
0.51% 27.3%
148
0.5 3.59
0.3
0.11 0.15
1
23
4
55% 6%
149
1
2
1
2
90
Carsim
0.032
150
0.5
52.42% 37.34%
0.2997 0.1307
10.2
Pacejka
[57][58]Dugoff [84][85]
151
152
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[42]
Mean Square Error
Extended
Kalman Filter
x k 1 f x k w k
(A.1)
y k hx k v k
x k t k x k 1 t k 1 y k
t k f h
w k v k
Covariance Matrix
E wk w j Qk
T
(A.2)
Ev v R
T
k j k
f x
Ak
x x x
k
(A.3)
h x
Hk
x x x
k
159
x k f x k 1
(A.4)
x k x k L k y k y k
T
Pk A k Pk A k Q k
T
L k Pk H k H k Pk H k R k
T
1
Pk 1 I L k H k Pk
x k y k x k y k Pk
L k
A.1
[65][66]Fading
Pk k A k Pk A k Q k
T
(A.5)
[42]
A.2
A.4
160
Tg
Ta Tg Ta kTg
(k 1)Tg kTg
x k x k f x k 1 (A.7)
T
Pk 1 Pk A k Pk A k Q k
(k 1)Tg kTg
A.4A.7
[42][73]
161