The Experts below are selected from a list of 286260 Experts worldwide ranked by ideXlab platform
Daniel Lechner - One of the best experts on this subject based on the ideXlab platform.
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road safety embedded observers for Estimation of vehicle s vertical tyre forces
International Journal of Vehicle Autonomous Systems, 2012Co-Authors: Moustapha Doumiati, Alessandro Correa Victorino, Daniel LechnerAbstract:Preventing car accidents using vehicle control systems requires input data concerning vehicle dynamic parameters. Unfortunately, some parameters, like the tyre-road contact forces that have a major impact on vehicle dynamics, are difficult to measure in a car. Therefore, this data must be estimated. In this context, this study presents an Estimation Process for load transfer and wheel-ground contact vertical forces. The proposed method is based on Kalman filter techniques and on the dynamic response of a vehicle instrumented with currently available standard sensors. Experimental results carried out using an experimental car show the effectiveness of the proposed approach.
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Estimation of road profile for vehicle dynamics motion: Experimental validation
Proceedings of the 2011 American Control Conference, 2011Co-Authors: Moustapha Doumiati, Alessandro Correa Victorino, Daniel LechnerAbstract:Knowledge of vehicle dynamic data is essential for the enhancement of active safety systems such as suspensions and trajectory control systems. Vehicle controllability analysis on real roads can be obtained only if valid road profile and tire road friction model are known. With regard to the road profile, this study focuses on a real-time Estimation method based on Kalman filter. Besides, this paper presents a method for calculating loads on the wheels using road profile. The proposed method is based on the dynamic response of a vehicle instrumented with available sensors. The Estimation Process is applied and compared to real experimental data obtained with two inertial methods in real conditions. Experimental results show the accuracy and the potential of the proposed Estimation Process.
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observers for vehicle tyre road forces Estimation experimental validation
Vehicle System Dynamics, 2010Co-Authors: Moustapha Doumiati, Daniel Lechner, Alessandro Correa Victorino, Guillaume BaffetAbstract:The motion of a vehicle is governed by the forces generated between the tyres and the road. Knowledge of these vehicle dynamic variables is important for vehicle control systems that aim to enhance vehicle stability and passenger safety. This study introduces a new Estimation Process for tyre/road forces. It presents many benefits over the existing state-of-art works, within the dynamic Estimation framework. One of these major contributions consists of discussing in detail the vertical and lateral tyre forces at each tyre. The proposed method is based on the dynamic response of a vehicle instrumented with potentially integrated sensors. The Estimation Process is separated into two principal blocks. The role of the first block is to estimate vertical tyre forces, whereas in the second block two observers are proposed and compared for the Estimation of lateral tyre/road forces. The different observers are based on a prediction/Estimation Kalman filter. The performance of this concept is tested and compared with real experimental data using a laboratory car. Experimental results show that the proposed approach is a promising technique to provide accurate Estimation. Thus, it can be considered as a practical low-cost solution for calculating vertical and lateral tyre/road forces.
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Estimation of vehicle sideslip tire force and wheel cornering stiffness
Control Engineering Practice, 2009Co-Authors: Guillaume Baffet, Ali Charara, Daniel LechnerAbstract:Abstract This paper presents a Process for the Estimation of tire–road forces, vehicle sideslip angle and wheel cornering stiffness. The method uses measurements (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities) only from sensors which can be integrated or have already been integrated in modern cars. The Estimation Process is based on two blocks in series: the first block contains a sliding-mode observer whose principal role is to calculate tire–road forces, while in the second block an extended Kalman filter estimates sideslip angle and cornering stiffness. More specifically, this study proposes an adaptive tire-force model that takes variations in road friction into account. The paper also presents a study of convergence for the sliding-mode observer. The Estimation Process was applied and compared to real experimental data, in particular wheel force measurements. The vehicle mass is assumed to be known. Experimental results show the accuracy and potential of the Estimation Process.
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experimental evaluation of observers for tire road forces sideslip angle and wheel cornering stiffness
Vehicle System Dynamics, 2008Co-Authors: Guillaume Baffet, Daniel Lechner, Damien ThomasAbstract:This paper proposes a new Estimation Process to estimate tire–road forces, sideslip angle and wheel cornering stiffness. This method uses measurements from currently–available standard sensors. The Estimation Process is separated into two blocks: the first block contains an observer whose principal role is to calculate tire–road forces without a descriptive force model, while in the second block an observer estimates sideslip angle and cornering stiffness with an adaptive tire-force model. The different observers are based on an Extended Kalman Filter method. Concerning the vehicle model, for observability reasons, the rear longitudinal forces are neglected relative to the front longitudinal forces. The Estimation Process was applied and compared to real experimental data, notably wheel force measurements. Experimental results show the accuracy and potential of the Estimation Process, and a limitation in the Estimation of the cornering stiffness.
Guillaume Baffet - One of the best experts on this subject based on the ideXlab platform.
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observers for vehicle tyre road forces Estimation experimental validation
Vehicle System Dynamics, 2010Co-Authors: Moustapha Doumiati, Daniel Lechner, Alessandro Correa Victorino, Guillaume BaffetAbstract:The motion of a vehicle is governed by the forces generated between the tyres and the road. Knowledge of these vehicle dynamic variables is important for vehicle control systems that aim to enhance vehicle stability and passenger safety. This study introduces a new Estimation Process for tyre/road forces. It presents many benefits over the existing state-of-art works, within the dynamic Estimation framework. One of these major contributions consists of discussing in detail the vertical and lateral tyre forces at each tyre. The proposed method is based on the dynamic response of a vehicle instrumented with potentially integrated sensors. The Estimation Process is separated into two principal blocks. The role of the first block is to estimate vertical tyre forces, whereas in the second block two observers are proposed and compared for the Estimation of lateral tyre/road forces. The different observers are based on a prediction/Estimation Kalman filter. The performance of this concept is tested and compared with real experimental data using a laboratory car. Experimental results show that the proposed approach is a promising technique to provide accurate Estimation. Thus, it can be considered as a practical low-cost solution for calculating vertical and lateral tyre/road forces.
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Estimation of vehicle sideslip tire force and wheel cornering stiffness
Control Engineering Practice, 2009Co-Authors: Guillaume Baffet, Ali Charara, Daniel LechnerAbstract:Abstract This paper presents a Process for the Estimation of tire–road forces, vehicle sideslip angle and wheel cornering stiffness. The method uses measurements (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities) only from sensors which can be integrated or have already been integrated in modern cars. The Estimation Process is based on two blocks in series: the first block contains a sliding-mode observer whose principal role is to calculate tire–road forces, while in the second block an extended Kalman filter estimates sideslip angle and cornering stiffness. More specifically, this study proposes an adaptive tire-force model that takes variations in road friction into account. The paper also presents a study of convergence for the sliding-mode observer. The Estimation Process was applied and compared to real experimental data, in particular wheel force measurements. The vehicle mass is assumed to be known. Experimental results show the accuracy and potential of the Estimation Process.
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experimental evaluation of observers for tire road forces sideslip angle and wheel cornering stiffness
Vehicle System Dynamics, 2008Co-Authors: Guillaume Baffet, Daniel Lechner, Damien ThomasAbstract:This paper proposes a new Estimation Process to estimate tire–road forces, sideslip angle and wheel cornering stiffness. This method uses measurements from currently–available standard sensors. The Estimation Process is separated into two blocks: the first block contains an observer whose principal role is to calculate tire–road forces without a descriptive force model, while in the second block an observer estimates sideslip angle and cornering stiffness with an adaptive tire-force model. The different observers are based on an Extended Kalman Filter method. Concerning the vehicle model, for observability reasons, the rear longitudinal forces are neglected relative to the front longitudinal forces. The Estimation Process was applied and compared to real experimental data, notably wheel force measurements. Experimental results show the accuracy and potential of the Estimation Process, and a limitation in the Estimation of the cornering stiffness.
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an Estimation Process for vehicle wheel ground contact normal forces
IFAC Proceedings Volumes, 2008Co-Authors: Moustapha Doumiati, Guillaume Baffet, Alessandro Correa Victorino, Ali Charara, Daniel LechnerAbstract:This paper presents a new methodology for estimating wheel-ground contact normal forces, commonly known as vertical forces. The proposed method uses measurements from currently available standard sensors (accelerometers and relative suspension sensors). The aim of this study is to improve vehicle safety, especially to prevent rollover problems. One particular feature of the method is the separation of the Estimation Process into three blocks. The first block serves to identify the vehicle's weight, the second block contains a linear observer whose main role is to estimate the one-side lateral transfer load, while the third block calculates the four wheel vertical forces using a nonlinear observer. The different observers are based on the Kalman filter. The Estimation Process is applied and compared to real experimental data obtained in real conditions. Experimental results validate and prove the feasibility of this approach.
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experimental evaluation of a sliding mode observer for tire road forces and an extended kalman filter for vehicle sideslip angle
Conference on Decision and Control, 2007Co-Authors: Guillaume Baffet, Ali Charara, D LechnerAbstract:This paper proposes a new Process for the Estimation of tire-road forces and vehicle sideslip angle. The method strictly uses measurements from sensors potentially integrable or already integrated in recent car (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities). The Estimation Process is based on two blocks in series: the first block contains a sliding-mode observer whose principal role is to calculate tire-road forces, while in the second block an extended Kalman filter estimates sideslip angle and cornering stiffness. More specifically, this study proposes an adaptive tire-force model that takes variations in road friction into account. The paper also presents a study of convergence for the sliding-mode observer. The Estimation Process was applied and compared to real experimental data, in particular wheel force measurements. Experimental results show the accuracy and potential of the Estimation Process.
Ali Charara - One of the best experts on this subject based on the ideXlab platform.
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Estimation of vehicle sideslip tire force and wheel cornering stiffness
Control Engineering Practice, 2009Co-Authors: Guillaume Baffet, Ali Charara, Daniel LechnerAbstract:Abstract This paper presents a Process for the Estimation of tire–road forces, vehicle sideslip angle and wheel cornering stiffness. The method uses measurements (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities) only from sensors which can be integrated or have already been integrated in modern cars. The Estimation Process is based on two blocks in series: the first block contains a sliding-mode observer whose principal role is to calculate tire–road forces, while in the second block an extended Kalman filter estimates sideslip angle and cornering stiffness. More specifically, this study proposes an adaptive tire-force model that takes variations in road friction into account. The paper also presents a study of convergence for the sliding-mode observer. The Estimation Process was applied and compared to real experimental data, in particular wheel force measurements. The vehicle mass is assumed to be known. Experimental results show the accuracy and potential of the Estimation Process.
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an Estimation Process for vehicle wheel ground contact normal forces
IFAC Proceedings Volumes, 2008Co-Authors: Moustapha Doumiati, Guillaume Baffet, Alessandro Correa Victorino, Ali Charara, Daniel LechnerAbstract:This paper presents a new methodology for estimating wheel-ground contact normal forces, commonly known as vertical forces. The proposed method uses measurements from currently available standard sensors (accelerometers and relative suspension sensors). The aim of this study is to improve vehicle safety, especially to prevent rollover problems. One particular feature of the method is the separation of the Estimation Process into three blocks. The first block serves to identify the vehicle's weight, the second block contains a linear observer whose main role is to estimate the one-side lateral transfer load, while the third block calculates the four wheel vertical forces using a nonlinear observer. The different observers are based on the Kalman filter. The Estimation Process is applied and compared to real experimental data obtained in real conditions. Experimental results validate and prove the feasibility of this approach.
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experimental evaluation of a sliding mode observer for tire road forces and an extended kalman filter for vehicle sideslip angle
Conference on Decision and Control, 2007Co-Authors: Guillaume Baffet, Ali Charara, D LechnerAbstract:This paper proposes a new Process for the Estimation of tire-road forces and vehicle sideslip angle. The method strictly uses measurements from sensors potentially integrable or already integrated in recent car (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities). The Estimation Process is based on two blocks in series: the first block contains a sliding-mode observer whose principal role is to calculate tire-road forces, while in the second block an extended Kalman filter estimates sideslip angle and cornering stiffness. More specifically, this study proposes an adaptive tire-force model that takes variations in road friction into account. The paper also presents a study of convergence for the sliding-mode observer. The Estimation Process was applied and compared to real experimental data, in particular wheel force measurements. Experimental results show the accuracy and potential of the Estimation Process.
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An Observer of Tire-Road Forces and Friction for Active Security Vehicle Systems
IEEE ASME Transactions on Mechatronics, 2007Co-Authors: Guillaume Baffet, Ali Charara, Gerald DherbomezAbstract:The Estimation of vehicle dynamic variables is essential for the enhancement of safety, in particular for braking and trajectory-control systems. This paper proposes a new Estimation Process to calculate lateral tire forces, vehicle sideslip angle, and road friction. The Estimation Process (an adaptive observer) is constructed by combining a vehicle model and a tire force model. More specifically, this study proposes an adaptive tire force model that takes variations in road friction into account. The adaptive observer is evaluated in comparison with two nonadaptive observers that use tire force models with fixed parameters. This study also proposes a road friction identification method operating in an online context. The observers and the road friction identification method are first evaluated using vehicle simulator software. Subsequently, observers are compared to real data acquired using an experimental vehicle. This paper also includes a description of the experimental platform. Results show the accuracy and potential of the Estimation Process.
Moustapha Doumiati - One of the best experts on this subject based on the ideXlab platform.
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road safety embedded observers for Estimation of vehicle s vertical tyre forces
International Journal of Vehicle Autonomous Systems, 2012Co-Authors: Moustapha Doumiati, Alessandro Correa Victorino, Daniel LechnerAbstract:Preventing car accidents using vehicle control systems requires input data concerning vehicle dynamic parameters. Unfortunately, some parameters, like the tyre-road contact forces that have a major impact on vehicle dynamics, are difficult to measure in a car. Therefore, this data must be estimated. In this context, this study presents an Estimation Process for load transfer and wheel-ground contact vertical forces. The proposed method is based on Kalman filter techniques and on the dynamic response of a vehicle instrumented with currently available standard sensors. Experimental results carried out using an experimental car show the effectiveness of the proposed approach.
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Estimation of road profile for vehicle dynamics motion: Experimental validation
Proceedings of the 2011 American Control Conference, 2011Co-Authors: Moustapha Doumiati, Alessandro Correa Victorino, Daniel LechnerAbstract:Knowledge of vehicle dynamic data is essential for the enhancement of active safety systems such as suspensions and trajectory control systems. Vehicle controllability analysis on real roads can be obtained only if valid road profile and tire road friction model are known. With regard to the road profile, this study focuses on a real-time Estimation method based on Kalman filter. Besides, this paper presents a method for calculating loads on the wheels using road profile. The proposed method is based on the dynamic response of a vehicle instrumented with available sensors. The Estimation Process is applied and compared to real experimental data obtained with two inertial methods in real conditions. Experimental results show the accuracy and the potential of the proposed Estimation Process.
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observers for vehicle tyre road forces Estimation experimental validation
Vehicle System Dynamics, 2010Co-Authors: Moustapha Doumiati, Daniel Lechner, Alessandro Correa Victorino, Guillaume BaffetAbstract:The motion of a vehicle is governed by the forces generated between the tyres and the road. Knowledge of these vehicle dynamic variables is important for vehicle control systems that aim to enhance vehicle stability and passenger safety. This study introduces a new Estimation Process for tyre/road forces. It presents many benefits over the existing state-of-art works, within the dynamic Estimation framework. One of these major contributions consists of discussing in detail the vertical and lateral tyre forces at each tyre. The proposed method is based on the dynamic response of a vehicle instrumented with potentially integrated sensors. The Estimation Process is separated into two principal blocks. The role of the first block is to estimate vertical tyre forces, whereas in the second block two observers are proposed and compared for the Estimation of lateral tyre/road forces. The different observers are based on a prediction/Estimation Kalman filter. The performance of this concept is tested and compared with real experimental data using a laboratory car. Experimental results show that the proposed approach is a promising technique to provide accurate Estimation. Thus, it can be considered as a practical low-cost solution for calculating vertical and lateral tyre/road forces.
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an Estimation Process for vehicle wheel ground contact normal forces
IFAC Proceedings Volumes, 2008Co-Authors: Moustapha Doumiati, Guillaume Baffet, Alessandro Correa Victorino, Ali Charara, Daniel LechnerAbstract:This paper presents a new methodology for estimating wheel-ground contact normal forces, commonly known as vertical forces. The proposed method uses measurements from currently available standard sensors (accelerometers and relative suspension sensors). The aim of this study is to improve vehicle safety, especially to prevent rollover problems. One particular feature of the method is the separation of the Estimation Process into three blocks. The first block serves to identify the vehicle's weight, the second block contains a linear observer whose main role is to estimate the one-side lateral transfer load, while the third block calculates the four wheel vertical forces using a nonlinear observer. The different observers are based on the Kalman filter. The Estimation Process is applied and compared to real experimental data obtained in real conditions. Experimental results validate and prove the feasibility of this approach.
Rajesh Hingorani - One of the best experts on this subject based on the ideXlab platform.
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hierarchical model based motion Estimation
European Conference on Computer Vision, 1992Co-Authors: James R Bergen, P Anandan, Keith James Hanna, Rajesh HingoraniAbstract:This paper describes a hierarchical Estimation framework for the computation of diverse representations of motion information. The key features of the resulting framework (or family of algorithms) are a global model that constrains the overall structure of the motion estimated, a local model that is used in the Estimation Process, and a coarse-fine refinement strategy. Four specific motion models: affine flow, planar surface flow, rigid body motion, and general optical flow, are described along with their application to specific examples.
