Nonlinear vehicle control allocation is achieved by distributing the control task to tire forces with nonlinear saturation constraints. The overall vehicle control is accomplished by developing a hierarchical scheme. First, a high-level sliding mode control with adaptive gain is considered to obtain the body force/moment for stable vehicle motion. The proposed controller only requires online ad...

When a vehicle equipped with tire is manoeuvred on the ground, the tires are submitted to a number of forces – longitudinal force when driving or braking torque is applied to the wheel and/or lateral force when the wheel is steered to turn at a corner. Pacejka model describes these forces that represent the reaction of the road onto the tire. This nonlinear model depends on correlated parameter...

A steering by wired haptic system based on disturbance rejection control techniques is presented. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle. The estimate...

In advanced road vehicle safety systems it is imperative to have a model describing the vehicle motions and behaviors with sufficient precision. Often a model incorporating a higher level of complexity generates more accurate data, with the disadvantage of demanding additional calculation power. This study will therefore focus on investigating how models of different detail level represents the...

Tire-road friction is estimated using the wheel-slip computed from standard sensor signals. A parametric model is estimated using an adaptive lter supported by a fault detector. Results from extensive eld trials are presented. An approach to estimate the tire{road friction during normal drive using only the wheel slip, that is, the relative diierence in wheel velocities, is presented. The drive...

Reduction of tire-road noise is an important issue when developing luxury cars and electric vehicles. In this context, the air-cavity mode source spindle forces transmitted to suspension that then increase interior levels. When a tire rotates, cavity near 200 Hz splits into two adjacent modes due Doppler effect deformation. That split can lead increased levels both longitudinal vertical at sinc...

This paper presents a new method for guaranteed and robust estimation of sideslip angle and lateral tire forces with consideration of cornering stiffness variations resulting from changes in tire/road and driving conditions. An interval LPV observer with both measurable and unmeasurable time-varying parameters is proposed. The longitudinal velocity is treated as the online measured time-varying...

The Automobile Braking System has a crucial role for safety of the passenger and riding quality of the vehicle. The braking force mainly depends on normal reaction on the wheel and the coefficient of friction between the tire and the road surface. Whenever a vehicle is loaded, the normal reaction on the rear wheel is increased. Thus the amount of braking force required to halt the vehicle with ...

This paper outlines a methodology for determining the statistics associated with the time evolution of a nonlinear multi-body dynamic system operated under input uncertainty. The focus is on the dynamics of ground vehicle systems in environments characterized by multiple sources of uncertainty: road topography, friction coefficient at the road/tire interface and aerodynamic force loading. Drawi...

In order to improve the security of the vehicles, the car industry focuses more and more on Active Safety. The objective is to introduce embedded electronic control systems to detect dangerous conditions, warn the driver and, in emergency situations, even take actions to avoid crash or at least reduce the violence of the impact. The tire-road friction coefficient which defines the maximum tract...