Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle

Yaw Rate Control and Actuator Fault Detection and Isolation for a Four Wheel Independent Drive Electric Vehicle

In this paper, a new actuator fault detection and isolation method for a four wheel independent drive electric vehicle is proposed. Also, a controller based on sliding mode control method is proposed for lateral stability of the vehicle. The proposed control method is designed in three high, medium and low levels. At the high-level, the vehicle desired dynamics such as longitudinal speed refere...

Estimation of Vehicle Roll Angle

Haldex Traction can with their Active Yaw Control prevent unwanted handling when driving a vehicle, by applying an extra torque with their all wheel drive system. To be able to calculate when and how this torque should be applied, it is important to the state information of the vehicle. When driving on banked roads, vehicle dynamics and sensor measurements are changed compared to when driving o...

Vehicle Roll and Road Bank Angles Estimation

Abstract: Driving safety can be enhanced by better understanding of risk situation, which can be achieved by the knowledge of vehicle dynamic states as well as the road geometry. Among the parameters of the road that have an influence on vehicle dynamics, one can find the bank angle, which can not however be measured by low cost onboard sensors. In this paper, a new method of road bank angle an...

Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation – Validation and Comparison with an Extended Kalman Filter

Many active safety systems in automotive vehicles, for instance yaw stability systems such as ESC/ESP, depend on information about vehicle velocity, in particular lateral velocity or side-slip angle, to be able to function properly. However, the vehicle velocity is rarely measured directly due to issues of cost and reliability, and must therefore in general be inferred from other measurements, ...

Four - wheel drive vehicle crash involvement patterns