Download or read book Estimation of the Longitudinal and Lateral Velocities of a Vehicle Using Extended Kalman Filters written by Juan Camilo Alvarez and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle motion and tire forces have been estimated using extended Kalman filters for many years. The use of extended Kalman filters is primarily motivated by the simultaneous presence of nonlinear dynamics and sensor noise. Two versions of extended Kalman filters are employed in this thesis: one using a deterministic tire-force model and the other using a stochastic tire-force model. Previous literature has focused on linear stochastic tire-force models and on linear deterministic tire-force models. However, it is well known that there exists a nonlinear relationship between slip variables and tire-force variables. For this reason, it is suitable to use a nonlinear deterministic tire-force model for the extended Kalman filter, and this is the novel aspect at this work. The objective of this research is to show the improvement of the extended Kalman filter using a nonlinear deterministic tire-force model in comparison to linear stochastic tire-force model. The simulation model is a seven degree-of-freedom bicycle model that includes vertical suspension dynamics but neglects the roll motion. A comparison between the linear stochastic tire-force model and the nonlinear deterministic tire-force model confirms the expected results. Simulation studies are performed on some illustrative examples obtaining good tracking performance.
Download or read book Estimation of Forward Accelerometer Parameter Using Lateral Acceleration and Kalman Filtering written by Shayne Michael Schiltz and published by . This book was released on 2005 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this text, some initial work on the development of an autonomous vehicle is presented. A simplified vehicle dynamics model is used to define the relationship between front steering angle and turn radius. A discrete time model is also developed for the accelerometer system to be identified. The vehicle dynamics and simulations used in this work are presented and used to verify the steer angle relationship derived earlier. The Kalman filter is applied to a scalar signal before being used with future analysis. Simulated accelerometer signals corrupted with noise were used to generate four experimental cases. These signals were used to calculate the system states, which were sent into the Kalman filter to minimize the error between the state model and accelerometer output. The results of the Kalman filter were applied, along with the steer angle and turn radius relationship, in order to provide an estimate of the signal offset of the longitudinal accelerometer. In most cases, this system and extended Kalman filter did quite well at extracting the parameter information at low drive velocities regardless of changes in front steering angle.
Download or read book Vehicle Dynamics Estimation using Kalman Filtering written by Moustapha Doumiati and published by John Wiley & Sons. This book was released on 2012-12-14 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle dynamics and stability have been of considerable interest for a number of years. The obvious dilemma is that people naturally desire to drive faster and faster yet expect their vehicles to be “infinitely” stable and safe during all normal and emergency maneuvers. For the most part, people pay little attention to the limited handling potential of their vehicles until some unusual behavior is observed that often results in accidents and even fatalities. This book presents several model-based estimation methods which involve information from current potential-integrable sensors. Improving vehicle control and stabilization is possible when vehicle dynamic variables are known. The fundamental problem is that some essential variables related to tire/road friction are difficult to measure because of technical and economical reasons. Therefore, these data must be estimated. It is against this background, that this book’s objective is to develop estimators in order to estimate the vehicle’s load transfer, the sideslip angle, and the vertical and lateral tire/road forces using a roll model. The proposed estimation processes are based on the state observer (Kalman filtering) theory and the dynamic response of a vehicle instrumented with standard sensors. These estimators are able to work in real time in normal and critical driving situations. Performances are tested using an experimental car in real driving situations. This is exactly the focus of this book, providing students, technicians and engineers from the automobile field with a theoretical basis and some practical algorithms useful for estimating vehicle dynamics in real-time during vehicle motion.
Download or read book Guidance and Control of Ocean Vehicles written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 1994-09-20 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.
Download or read book Advanced Vehicle Control written by Johannes Edelmann and published by CRC Press. This book was released on 2016-12-19 with total page 726 pages. Available in PDF, EPUB and Kindle. Book excerpt: The AVEC symposium is a leading international conference in the fields of vehicle dynamics and advanced vehicle control, bringing together scientists and engineers from academia and automotive industry. The first symposium was held in 1992 in Yokohama, Japan. Since then, biennial AVEC symposia have been established internationally and have considerably contributed to the progress of technology in automotive research and development. In 2016 the 13th International Symposium on Advanced Vehicle Control (AVEC’16) was held in Munich, Germany, from 13th to 16th of September 2016. The symposium was hosted by the Munich University of Applied Sciences. AVEC’16 puts a special focus on automatic driving, autonomous driving functions and driver assist systems, integrated control of interacting control systems, controlled suspension systems, active wheel torque distribution, and vehicle state and parameter estimation. 132 papers were presented at the symposium and are published in these proceedings as full paper contributions. The papers review the latest research developments and practical applications in highly relevant areas of vehicle control, and may serve as a reference for researchers and engineers.
Download or read book Kalman Filtering written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2015-02-02 with total page 639 pages. Available in PDF, EPUB and Kindle. Book excerpt: The definitive textbook and professional reference on Kalman Filtering – fully updated, revised, and expanded This book contains the latest developments in the implementation and application of Kalman filtering. Authors Grewal and Andrews draw upon their decades of experience to offer an in-depth examination of the subtleties, common pitfalls, and limitations of estimation theory as it applies to real-world situations. They present many illustrative examples including adaptations for nonlinear filtering, global navigation satellite systems, the error modeling of gyros and accelerometers, inertial navigation systems, and freeway traffic control. Kalman Filtering: Theory and Practice Using MATLAB, Fourth Edition is an ideal textbook in advanced undergraduate and beginning graduate courses in stochastic processes and Kalman filtering. It is also appropriate for self-instruction or review by practicing engineers and scientists who want to learn more about this important topic.
Download or read book The Science of Vehicle Dynamics written by Massimo Guiggiani and published by Springer. This book was released on 2018-05-05 with total page 565 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook covers handling and performance of both road and race cars. Mathematical models of vehicles are developed always paying attention to state the relevant assumptions and to provide explanations for each step. This innovative approach provides a deep, yet simple, analysis of the dynamics of vehicles. The reader will soon achieve a clear understanding of the subject, which will be of great help both in dealing with the challenges of designing and testing new vehicles and in tackling new research topics. The book deals with several relevant topics in vehicle dynamics that are not discussed elsewhere and this new edition includes thoroughly revised chapters, with new developments, and many worked exercises. Praise for the previous edition: Great book! It has changed drastically our approach on many topics. We are now using part of its theory on a daily basis to constantly improve ride and handling performances. --- Antonino Pizzuto, Head of Chassis Development Group at Hyundai Motor Europe Technical Center Astonishingly good! Everything is described in a very compelling and complete way. Some parts use a different approach than other books. --- Andrea Quintarelli, Automotive Engineer
Download or read book Kalman Filters written by Ginalber Luiz Serra and published by BoD – Books on Demand. This book was released on 2018-02-21 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent issues on theory and practice of Kalman filters, with a comprehensive treatment of a selected number of concepts, techniques, and advanced applications. From an interdisciplinary point of view, the contents from each chapter bring together an international scientific community to discuss the state of the art on Kalman filter-based methodologies for adaptive/distributed filtering, optimal estimation, dynamic prediction, nonstationarity, robot navigation, global navigation satellite systems, moving object tracking, optical communication systems, and active power filters, among others. The theoretical and methodological foundations combined with extensive experimental explanation make this book a reference suitable for students, practicing engineers, and researchers in sciences and engineering.
Download or read book Automotive Control Systems written by Uwe Kiencke and published by Springer Science & Business Media. This book was released on 2005-04-13 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of the most respected, experienced and well-known researchers and developers in the field (e.g., Kiencke worked at Bosch where he helped develop anti-breaking system and engine control; Nielsen has lead joint research projects with Scania AB, Mecel AB, Saab Automobile AB, Volvo AB, Fiat GM Powertrain AB, and DaimlerChrysler. Reflecting the trend to optimization through integrative approaches for engine, driveline and vehicle control, this valuable book enables control engineers to understand engine and vehicle models necessary for controller design and also introduces mechanical engineers to vehicle-specific signal processing and automatic control. Emphasis on measurement, comparisons between performance and modelling, and realistic examples derive from the authors’ unique industrial experience . The second edition offers new or expanded topics such as diesel-engine modelling, diagnosis and anti-jerking control, and vehicle modelling and parameter estimation. With only a few exceptions, the approaches
Download or read book Vehicle Dynamics written by Reza N. Jazar and published by Springer Science & Business Media. This book was released on 2013-11-19 with total page 1074 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook is appropriate for senior undergraduate and first year graduate students in mechanical and automotive engineering. The contents in this book are presented at a theoretical-practical level. It explains vehicle dynamics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. Students, researchers and practicing engineers alike will appreciate the user-friendly presentation of a wealth of topics, most notably steering, handling, ride, and related components. This book also: Illustrates all key concepts with examples Includes exercises for each chapter Covers front, rear, and four wheel steering systems, as well as the advantages and disadvantages of different steering schemes Includes an emphasis on design throughout the text, which provides a practical, hands-on approach
Download or read book System Simulation and Scientific Computing written by Tianyuan Xiao and published by Springer. This book was released on 2012-10-08 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Three-Volume-Set CCIS 323, 324, 325 (AsiaSim 2012) together with the Two-Volume-Set CCIS 326, 327 (ICSC 2012) constitutes the refereed proceedings of the Asia Simulation Conference, AsiaSim 2012, and the International Conference on System Simulation, ICSC 2012, held in Shanghai, China, in October 2012. The 267 revised full papers presented were carefully reviewed and selected from 906 submissions. The papers are organized in topical sections on modeling theory and technology; modeling and simulation technology on synthesized environment and virtual reality environment; pervasive computing and simulation technology; embedded computing and simulation technology; verification, validation and accreditation technology; networked modeling and simulation technology; modeling and simulation technology of continuous system, discrete system, hybrid system, and intelligent system; high performance computing and simulation technology; cloud simulation technology; modeling and simulation technology of complex system and open, complex, huge system; simulation based acquisition and virtual prototyping engineering technology; simulator; simulation language and intelligent simulation system; parallel and distributed software; CAD, CAE, CAM, CIMS, VP, VM, and VR; visualization; computing and simulation applications in science and engineering; computing and simulation applications in management, society and economics; computing and simulation applications in life and biomedical engineering; computing and simulation applications in energy and environment; computing and simulation applications in education; computing and simulation applications in military field; computing and simulation applications in medical field.
Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-29 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
Download or read book Integrated Vehicle Dynamics and Control written by Wuwei Chen and published by John Wiley & Sons. This book was released on 2016-05-31 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive overview of integrated vehicle system dynamics exploring the fundamentals and new and emerging developments This book provides a comprehensive coverage of vehicle system dynamics and control, particularly in the area of integrated vehicle dynamics control. The book consists of two parts, (1) development of individual vehicle system dynamic model and control methodology; and (2) development of integrated vehicle dynamic model and control methodology. The first part focuses on investigating vehicle system dynamics and control according to the three directions of vehicle motions, including longitudinal, vertical, and lateral. Corresponding individual control systems, e.g. Anti-lock Brake System (ABS), Active Suspension, Electric Power Steering System (EPS), are introduced and developed respectively. Particular attention is paid in the second part of the book to develop integrated vehicle dynamic control system. Integrated vehicle dynamics control system is an advanced system that coordinates all the chassis control systems and components to improve the overall vehicle performance including safety, comfort, and economy. Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The research topic on integrated vehicle dynamics control is investigated comprehensively and intensively in the book through both theoretical analysis and experimental study. In this part, two types of control architectures, i.e. centralized and multi-layer, have been developed and compared to demonstrate their advantages and disadvantages. Integrated vehicle dynamics control is a hot topic in automotive research; this is one of the few books to address both theory and practice of integrated systems Comprehensively explores the research area of integrated vehicle dynamics and control through both theoretical analysis and experimental study Addresses a full range of vehicle system topics including tyre dynamics, chassis systems, control architecture, 4 wheel steering system and design of control systems using Linear Matrix Inequality (LMI) Method
Download or read book Proceedings of SAE China Congress 2015 Selected Papers written by China Society of Automotive Engineers and published by Springer. This book was released on 2015-11-30 with total page 626 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings gather outstanding papers submitted to the 2015 SAE-China Congress, the majority of which are from China, the biggest car maker as well as most dynamic car market in the world. The book covers a wide range of automotive topics, presenting the latest technical achievements in the industry. Many of the approaches presented can help technicians to solve the practical problems that most affect their daily work.
Download or read book Angular and Linear Velocity Estimation for a Re Entry Vehicle Using Six Distributed Accelerometers written by and published by . This book was released on 2003 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This report describes a feasibility study. We are interested in calculating the angular and linear velocities of a re-entry vehicle using six acceleration signals from a distributed accelerometer inertial measurement unit (DAIMU). Earlier work showed that angular and linear velocity calculation using classic nonlinear ordinary differential equation (ODE) solvers is not practically feasible, due to mathematical and numerical difficulties. This report demonstrates the theoretical feasibility of using model-based nonlinear state estimation techniques to obtain the angular and linear velocities in this problem. Practical numerical and calibration issues require additional work to resolve. We show that the six accelerometers in the DAIMU are not sufficient to provide observability, so additional measurements of the system states are required (e.g. from a Global Positioning System (GPS) unit). Given the constraint that our system cannot use GPS, we propose using the existing on-board 3-axis magnetometer to measure angular velocity. We further show that the six nonlinear ODE's for the vehicle kinematics can be decoupled into three ODE's in the angular velocity and three ODE's in the linear velocity. This allows us to formulate a three-state Gauss-Markov system model for the angular velocities, using the magnetometer signals in the measurement model. This re-formulated model is observable, allowing us to build an Extended Kalman Filter (EKF) for estimating the angular velocities. Given the angular velocity estimates from the EKF, the three ODE's for the linear velocity become algebraic, and the linear velocity can be calculated by numerical integration. Thus, we do not need direct measurements of the linear velocity to provide observability, and the technique is mathematically feasible. Using a simulation example, we show that the estimator adds value over the numerical ODE solver in the presence of measurement noise. Calculating the velocities in the presence of significant measurement noise is not feasible with a classic ODE solver. The EKF is able to deal effectively with the noise and provide useful angular velocity estimates. The linear velocity estimates for this simulation show numerical difficulties associated with the nonlinear ODE's and the quadrature operation. Future work will focus on dealing with practical numerical issues and the issue of calibrating the DAIMU to deal with uncertainties in the accelerometer positions and locations.
Download or read book Design a Nonlinear Observer for Vehicle Lateral Dynamics Estimation written by Imad Al Qaisi and published by LAP Lambert Academic Publishing. This book was released on 2014-06-05 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this Book, a new measured based friction model is developed to describe the vehicle lateral dynamics which are modeled by a so called two-track vehicle model. The effects of load transfer and the effects caused by slip angles in relation to the track width of the vehicle can be included in this model. On the other hand, the two- track vehicle model incorporates a more sophisticated tire model in order to accurately represent the tire forces and study the vehicle behavior in the nonlinear region. Simulation and experimental results show that, within a considerable range of slip angle, there is a good agreement between the simplified two-track vehicle model and the simulated test data from CarSim. A nonlinear observer for estimation of lateral velocity and yaw rate of automotive vehicles is proposed. This observer is based on yaw rate measurement in addition to steering angle, longitudinal velocity and longitudinal forces measurements. Stability of the proposed observer is investigated with Lyapunov direct method. Simulation results are presented to validate the nonlinear observer, the friction model and to explore automobile behavior in different scenarios.
Download or read book AETA 2015 Recent Advances in Electrical Engineering and Related Sciences written by Vo Hoang Duy and published by Springer. This book was released on 2016-03-09 with total page 885 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceeding book consists of 10 topical areas of selected papers like: telecommunication, power systems, robotics, control system, renewable energy, power electronics, computer science and more. All selected papers represent interesting ideas and state of the art overview. Readers will find interesting papers of those areas about design and implement of dynamic positioning control system for USV, scheduling problems, motor control, backtracking search algorithm for distribution network and others. All selected papers represent interesting ideas and state of art overview. The proceeding book will also be a resource and material for practitioners who want to apply discussed problems to solve real-life problems in their challenging applications. It is also devoted to the studies of common and related subjects in intensive research fields of modern electric, electronic and related technologies. For these reasons, we believe that this proceeding book will be useful for scientists and engineers working in the above-mentioned fields of research applications.
