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In order to solve the problem that the measured values of key state parameters such as the lateral velocity and yaw rate of the vehicle are easily interfered by random errors, a filter estimation method of vehicle state is proposed based on the principle of robust filtering and the unscented particle filter algorithm. Based on the establishment of a 3-DOF non-linear dynamic model and the Dugoff tire model of the vehicle, the adaptive robust unscented particle filter(ARUPF) is used to filter and estimate the parameters of the vehicle state, and to realize the longitudinal and lateral speed as well as the yaw rate of the vehicle during the driving process. The simulation and the real vehicle test results show that based on the adaptive robust unscented particle filter algorithm, the vehicle driving state estimation can be realized, the measurement parameters can be effectively filtered, and the estimation accuracy is high. [ABSTRACT FROM AUTHOR]

This article formulates a front-wheel-drive three degree-of-freedom (3DOF) four-wheel planar vehicle model with the Magic Formula tire model. The state variables' evolutions of the model, i.e., trajectories of the model under acceleration and deacceleration conditions, are analyzed. The process of evolution is divided into desirable and undesirable phases based on the response characteristics of the vehicle to the driver input during the process. The trajectories are categorized as unsaturated trajectories and saturated trajectories by the existence of saturated tires during these phases. The response of state variables to driver input under acceleration conditions during undesirable phases are zero or even opposite, while the response of undesirable phases under the deacceleration condition is partially positive. Besides, the existing yaw rate safety envelope is recalibrated by using a longitudinal and lateral tire force coupling model. A more accurate yaw rate safety envelope is obtained from the given driver input. Furthermore, a longitudinal speed safety envelope is proposed according to the relationships among slip angle, yaw rate, and longitudinal speed. These safety envelopes are determined by driver input, tire properties, and grip condition. After overlaying yaw rate and longitudinal speed safety envelopes in the state space, the feasibility of using the safety envelope as trajectory classification criteria is discussed. [ABSTRACT FROM AUTHOR]

Summary: To address the difficulties of under‐actuation, nonlinearity, strong coupling, disturbances and measurement noise in four‐wheel steering (4WS) vehicle tracking control, this paper presents an innovative control strategy based on differential flatness and linear active disturbance rejection controller (LADRC). The flatness property of 4WS vehicle is derived from a simplified dynamic model that ignores some complicated dynamics and external disturbances. The impact of these neglected components on the system is treated as part of the total‐disturbance, which is estimated by the observer and compensated by LADRC. Three flatness‐based control schemes, including feedback linearization controller with PID corrective term, traditional LADRC and LADRC with robust generalized proportional integral observer (RGPIO), are designed and investigated in this paper. Moreover, an overtaking scenario is selected as an application example for the tracking controllers, and the corresponding trajectory planner is designed. The tracking performances of these schemes for the overtaking trajectory are simulated on a three‐degree‐of‐freedom dynamic model and a more complete dynamic model of the 4WS vehicle, respectively. Results show the effectiveness of these schemes, especially the excellent tracking performance of LADRC with RGPIO in the presence of strong external disturbances and measurement noise. [ABSTRACT FROM AUTHOR]

Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment. [ABSTRACT FROM AUTHOR]

This paper presents a rigorous analysis of a promising bi-modal multirotor vehicle that can roll and fly. This class of vehicle provides energetic and locomotive advantages over traditional unimodal vehicles. Despite superficial similarities to traditional multirotor vehicles, the dynamics of the vehicle analyzed herein differ substantially. This paper is the first to offer a complete and rigorous derivation, simulation, and validation of the vehicle's terrestrial rolling dynamics. Variational mechanics is used to develop a six degrees-of-freedom dynamic model of the vehicle subject to kinematic rolling constraints and various nonconservative forces. The resulting dynamic system is determined to be differentially flat and the flat outputs of the vehicle are derived. A functional hardware embodiment of the vehicle is constructed, from which empirical motion data are obtained via odometry and inertial sensing. A numerical simulation of the dynamic model is executed, which accurately predicts complex dynamic phenomena observed in the empirical data, such as gravitational and gyroscopic nonlinearities; the comparison of simulation results to empirical data validates the dynamic model. [ABSTRACT FROM AUTHOR]

With the development of the transportation, the bridge approach settlement (BAS) received great attention which can result in structure deterioration of the bridge and road, costly maintenance, and hazardous driving conditions. Therefore, accurate prediction of BAS is important. In this paper, a methodology using the iterative procedure is presented to predict the long-term BAS. In this method, the dynamic deviator stress is obtained by a 3D finite element road model and the settlement is calculated by an empirical model with the dynamic deviator stress. Then, the settlement is used as the excitation of the vehicle model for updating the load in the 3D road model. After several iterative calculations, the long-term BAS can be obtained. The comparison between the iterative method and the empirical method is presented. Also the parametric study of the empirical equation is performed. A simplified equation considering the iterative procedure is proposed for engineering practice. Computed results showed that the permanent settlement predicted by the iterative method is larger than that calculated by the empirical method. Also, the parameters of the empirical equation have great effects on the settlement prediction. The applicability of the new empirical equation is also proved. [ABSTRACT FROM AUTHOR]

In order to reduce the shock and vibration caused by torque disturbance of the gearbox in vehicles equipped with automatic transmission in the process of in situ shift, a novel semi-active hydraulic damping strut is introduced in the powertrain mounting system. The dynamic response evaluation indexes of vehicle in situ shift are put forward, and a 13-degree of freedom vehicle dynamic model including the semi-active hydraulic damping strut is established. The optimized dynamic characteristic parameters are acquired according to the principle of sharing force and the 13-degree of freedom vehicle dynamic model. The dynamic response evaluation indexes with and without the semi-active hydraulic damping strut are calculated using the 13-degree of freedom vehicle dynamic model in the process of in situ shift, and the calculation results show that the vibration of a vehicle can be reduced by the introduction of a semi-active hydraulic damping strut. Experiments are carried out to analyze the vibration response of the vehicle with and without a semi-active hydraulic damping strut, and the results show that the shock and vibration of the vehicle are reduced by introducing the semi-active hydraulic damping strut. The theoretical calculation values of active-side acceleration of the engine mount and torque strut are consistent with the experimental values, which show that the 13-degree of freedom vehicle dynamic model is reasonable. [ABSTRACT FROM AUTHOR]

• Construction of the dynamic model of the vehicle considering cardan shaft misalignment. • Analysis of the effect of cardan shaft misalignment on driving safety and ride comfort of the vehicle. • Thresholds of offset shift length of the cross shaft to avoid reduction of the ride comfort of the vehicle. In order to reduce the upsprung weight, cardan shaft is used in Chinese high-speed vehicles CRH5 to transmit torque from the motor to the wheel pair. The cardan shaft becomes misaligned due to worn wear pads in the cardan joint and shifting of the cross shafts. The misalignment results in inertia force and affects the vibration of the wheel pair and the carriage. A dynamic model of the vehicle including cardan shafts is proposed in this study to analyze the effects of the misalignment on dynamic performance of the vehicle. A route is designed based on European Railway Standard EN14316 to perform the simulation. Effects of the misalignment on wheel-rail contact force and acceleration of the carriage are investigated through simulations. Dynamic performances including driving safety and riding comfort of the vehicle under different shifting lengths of cross shafts are studied through the calculation of the derailment coefficient and the riding comfort index. Transmission efficiency of the cardan shaft with respect to different shifting lengths of the cross shafts under different speeds of the vehicle are studied. Threshold of shifting length of the cross shaft is determined in this study to avoid reduction of riding quality of the vehicle based on the standard of riding comfort index of vehicles, and the spectral amplitude of acceleration of the motor with respect to rotating frequency of the cardan shaft are calculated for maintenance of the cardan shaft. [ABSTRACT FROM AUTHOR]