This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Sliding Mode Observer for Vehicle Slip Angle and Tire Force Estimation
Technical Paper
2014-01-0865
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
In this paper, a sliding mode observer for estimating vehicle slip angle and tire forces is developed.
Firstly, the sliding mode observer design approach is presented. A system damping is included in the sliding mode observer to speed the observer convergence and to decrease the observer chattering.
Secondly, the sliding mode observer for vehicle states is developed based on a 7 DOF embedded vehicle model with a nonlinear tire model ‘UniTire’. In addition, since the tire lateral stiffness is sensitive to the vertical load, the load transfers are considered in the embedded model with a set of algebraic equations.
Finally, a simulation evaluation of the proposed sliding mode observer is conducted on a validated 14 DOF vehicle model. The simulation results show the model outputs closely match the estimations by the proposed sliding mode observer.
Recommended Content
| Technical Paper | Comparison of Tire Behavior using Vehicle Dynamic Simulation |
| Technical Paper | Do We Really Need a Spec on Tire Static Balance? |
| Technical Paper | A New Tire Model for Road Loads Simulation: Full Vehicle Validation |
Topic
Citation
Chen, Y., Ji, Y., and Guo, K., "A Sliding Mode Observer for Vehicle Slip Angle and Tire Force Estimation," SAE Technical Paper 2014-01-0865, 2014, https://doi.org/10.4271/2014-01-0865.Also In
References
- Samadi , B. , Kazemi , R. , Nikravesh , K. Y. , and Kabganian M. Real-Time Estimation of Vehicle State and Tire-Road Friction Forces Proceedings of the American Control Conference Arlington, VA Jun. 25 27 2001 3318 3323
- Stephant , J. , Charara , A. , Meizel , D. Evaluation of a sliding mode observer for vehicle sideslip angle Control Engineering Practice 15 2007 803 812
- Piyabongkarn , D. , Rajamani , R. , Grogg , J. A. , and Lew J. Y. Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control IEEE Transactions on Control Systems Technology 17 2009 78 88
- Tseng , H. E. , Madau , D. , Ashrafi B. , Brown , T. , and Recker , D. Technical Challenges in the Development of Vehicle Stability Control System Proceedings of the IEEE International Conference on Control Applications Kohala Coast-Island, Hawai'i August 22 21 1999 1660 1666
- Anderson , R. , and Bevly D. M. Estimation of Slip Angles using a Model Based Estimator and GPS Proceeding of the American Control Conference Boston, MA Jun. 30 Jul. 2 2004 2122 2127
- Fukada , Y. Slip-Angle Estimation for Vehicle Stability Control Vehicle System Dynamics 32 1999 375 388
- Cheli , F. , Sabbioni , E. , Pesce , M. , and Melzi , S. A Methodology for Vehicle Sideslip Angle Identification: Comparison with Experimental Data Vehicle System Dynamics 45 2007 549 563
- Gao , X. , Yu , Z. , Neubeck , J. , and Wiedemann , J. Sideslip Angle Estimation Based on Input-Output Linearisation with Tire-Road Friction Adaptation Vehicle System Dynamics 48 2010 217 234
- Hiemer , M. , von Vietinghoff , A. , Kiencke , U. , and Matsunaga , T. Determination of the Vehicle Body Side Slip Angle with Non-Linear Observer Strategies SAE Technical Paper 2005-01-0400 2005 10.4271/2005-01-0400
- Ray , L. R. Nonlinear State and Tire Force Estimation for Advanced Vehicle Control IEEE Transactions on Control Systems Technology 3 1999 117 124
- Acarman , T. Observation of Vehicle States by Using Steering Wheel Angle and Wheel Angular Speeds Proceedings of the 2008 IEEE International Conference on Vehicular Electronics and Safety Columbus, OH, USA Sept. 22 24 2008 189 194
- Cho , W. , Yoon , J. , Yim , S. , Koo , B. , and Yi K. Estimation of Tire Forces for Application to Vehicle Stability Control IEEE Transactions on Vehicular Technology 59 2010 638 649
- Slotine , J-J. E. , Hedrick , J. K. , and Misawa , E. A. On Sliding Observers for Nonlinear Systems ASME Journal of Dynamic System, Measurement and Control 109 1987 245 252
- Doumiati , M. , Victorino , A. , Lechner , D. , Baffet , G. , and Charara , A. Observers for Vehicle Tyre/road Forces Estimation: Experimental Validation Vehicle System Dynamics 48 2010 1345 1378
- Guo , K. , Lu , D. , Chen , S. , Lin , W. C. , and Lu , X. The UniTire Model: A Nonlinear and Non-steady-state Tyre Model for Vehicle Dynamics Simulation Vehicle System Dynamics 43 2005 341 358
- Guo , K. , Lu , D. UniTire: Unified Tire Model for Vehicle Dynamic Simulation Vehicle System Dynamics 45 2007 79 99
- Chen , Y. Study of Direct Yaw Moment Control for In-wheel Motor Electric Vehicles PhD diss. Jilin University 2013
- The observer and vehicle dynamics models in this paper are developed in the MATLAB\SIMULINK® environment The MathWorks Inc. Natick, MA
- Forkenbrock , G. , Garrott , W. , Heitz , M. , and O'Harra , B. An Experimental Examination of Double Lane Change Maneuvers That May Induce On-Road, Untripped, Light Vehicle Rollover SAE Technical Paper 2003-01-1009 2003 10.4271/2003-01-1009