Related papers: Inverse-dynamics observer design for a linear sing…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…
This paper investigates the stability and stabilization of semilinear single-track vehicle models with distributed tire friction dynamics, modeled as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…
This paper provides a comprehensive comparison of model-based and data-driven approaches and analyses the benefits of using measured tyre forces for vehicle sideslip angle estimation. The model-based approaches are based on an extended…
This paper addresses the local stabilization problem for semilinear single-track vehicle models with distributed tire friction dynamics, represented as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…
This paper introduces a novel family of single-track vehicle models that incorporate a distributed representation of transient tyre dynamics, whilst simultaneously accounting for nonlinear effects induced by friction. The core of the…
Conventional vehicle dynamics estimation methods suffer from the drawback of employing independent, separately calibrated filtering modules for each variable. To address this limitation, a recent proposal introduces a unified…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
For the autonomous operation of articulated vehicles at distribution centers, accurate positioning of the vehicle is of the utmost importance. Automation of these vehicle poses several challenges, e.g. large swept path, asymmetric steering…
Numerical stability is of great significance for discrete-time dynamic vehicle model. Among the unstable factors, low-speed singularity stands out as one of the most challenging issues, which arises from that the denominator of tire side…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…
This work presents a numerical analysis of computing transition states of semilinear elliptic partial differential equations (PDEs) via the index-1 saddle dynamics, or equivalently, the gentlest ascent dynamics. To establish clear…
Sideslip angle is an important variable for understanding and monitoring vehicle dynamics but it lacks an inexpensive method for direct measurement. Therefore, it is typically estimated from inertial and other proprioceptive sensors onboard…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
Trajectory estimation of maneuvering objects is applied in numerous tasks like navigation, path planning and visual tracking. Many previous works get impressive results in the strictly controlled condition with accurate prior statistics and…
This paper presents a novel class of string tyre models with FrBD friction dynamics. By modelling the distributed carcass and tread deformations with string-like equations, the resulting formulation leads to a system of semilinear parabolic…
This paper proposes a novel framework for the distributionally robust input and state estimation (DRISE) for autonomous vehicles operating under model uncertainties and measurement outliers. The proposed framework improves the input and…