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VehicleDynamicsEstimationandPredictionSystems
VehicleDynamicsEstimationandPredictionSystems
StudentLingYuanHsu
AdvisorDr.TsungLinChen
ADissertation
SubmittedtoDepartmentofMechanicalEngineering
CollegeofEngineering
NationalChiaoTungUniversity
inPartialFulfillmentoftheRequirements
fortheDegreeof
DoctorofPhilosophy
in
MechanicalEngineering
September2011
Hsinchu,Taiwan,RepublicofChina
: :
Sensor Fusion System
Real Time
1
Observability Matrix
2
Switching Observer
2
3

20 6 Full-State Vehicle Model
Rollover
0.5 3.59
Relative
Accuracy 0.21% 4.3%
0.3 0.11 0.15

0.51%
27.3%

Differential Brake
1
2
Robust Stability3
Numerical
Search Carsim
90
0.032
0.5 52.42%
37.34% 0.1307
ii
Vehicle Dynamics Estimation and

Prediction Systems
Student: Ling-Yuan Hsu Advisor: Dr. Tsung-Lin Chen
Department of Mechanical Engineering

National Chiao Tung University
Abstract
In this dissertation, two methods for vehicle dynamics estimation and prediction are
proposed for known vehicle model and unknown vehicle model, respectively. The former
estimates the current vehicle dynamics and road angle information from a model-based state
observer. And then, it predicts the future vehicle dynamic information based on the same
vehicle model, vehicle dynamics and road angles. The latter estimates the current vehicle
dynamics and road angle information from the sensor-based sensor fusion system. And then it
uses the above vehicle dynamics to identify the parameters of a vehicle model. Lastly, it
predicts vehicle future dynamics based on the selected vehicle model, vehicle dynamics and
road conditions (angles and friction coefficients). Both methods not only can predict the risk
of the vehicle rollover in the future time, but also can be applied to the vehicle real-time
control system to increase the driving safety.
In the approach for the known vehicle model, the proposed method focuses on two
things: (1) using the observability matrix of the vehicle model to determine the collaborated
sensors so that all the vehicle dynamics can be estimated using the minimum number of
sensors; (2) developing a novel state observer techniques (switching observer) to both lower
the complexity of designing an state observer for a high-order nonlinear system and reduce
the computation load for the real-time implantation. The above model-based approach can
predict the vehicle dynamics. However, its feasibility is largely affected by the accuracy of
the vehicle model. Therefore, this dissertation proposed another method for unknown vehicle
model. The method for unknown vehicle model is focuses on: (1) selecting a set of sensors so
that most of the vehicle dynamics can be estimated without a vehicle model; (2) selecting a
iii
vehicle model and using the above vehicle dynamics to identify the parameters in the vehicle
model; (3) using the above vehicle model, vehicle dynamics, and road conditions to predict
the vehicle dynamics in the future time.
In order to verify the feasibility of the proposed method by simulations, a full-state

vehicle model was employed to mimic the dynamics of a real vehicle on the road. This
vehicle model differs from most existing vehicle models in including the road angles, and it
can describe the rollover behaviors.
In the approach for the known vehicle model, the observability analysis suggests the
minimum numbers of the incorporated sensors are four, which are lateral acceleration sensor,
longitudinal velocity sensor, yaw angle sensor, and four suspension displacement sensors,
According to the simulation results, the proposed method can estimate vehicle dynamics even
when two of the tires are off the ground. The estimation accuracy for vehicle attitude
estimation is less than 0.5 deg; the estimation accuracy for the road angles is less than 3.59
deg. The prediction accuracy is of 0.21% when the vehicle does a left turn, and it reduces to
4.3% when the vehicle rollover happens. For the case when vehicle model is unknown, the
analysis indicates that some of the vehicle dynamics cannot be correctly estimated when the
vehicle tire is off the ground. In other simulation conditions, the estimation accuracies of the
vehicle displacements and attitudes are less than 0.3 m and 0.11 deg, respectively, while the
estimation accuracy of the road angles is less than 0.15 deg. The accuracy of the dynamics
prediction is of 0.51% when the vehicle does a left turn, and it reduces to 27.3% when the
vehicle rollover happens. The inaccuracy of the dynamics prediction in the rollover case
mainly comes from using an over-simplified tire model.
This dissertation also discusses the effect of using future vehicle dynamics in a vehicle
trajectory control system. The proposed trajectory following system uses the differential brake
technique to regulate the vehicle trajectory without using the steering wheel. It differs from
the existing approaches in: (1) it can be applied to a front-drive, front steer vehicle; (2) the
control algorithm is developed using a hierarchical architecture, the sliding model controls are
used to ensure the robust stability for the entire system; (3) it achieves the minimum control
inputs while preserving the robust performance. Additionally, this optimal solution is
obtained analytically instead of from numerical search. Two vehicle models (full-state vehicle
model and Carsim vehicle model) are employed to verify the robustness of the proposed
control system. In the simulation, the initial vehicle velocity is 90 km/hr, the proposed control
iv
system can use the current vehicle dynamics information to regulate the vehicle finishing the
double lane change with the accuracy of the lateral displacement less than 0.032 m. When
using the future vehicle dynamics information, the control algorithm can control the vehicle in
advance by 0.5 second, lower the maximum vehicle yaw rate by 52.42%, and reduce the total
control efforts by 37.34%. However, the accuracy of the trajectory following is also lowered
to 0.1307 m.
Carsim
vi
....................................................................................................................... i
..................................................................................................................... iii
............................................................................................................................ vi
........................................................................................................................... vii
........................................................................................................................ xi
....................................................................................................................... xii
............................................................................................................. 1
1.1 ........................................................................................................ 1
1.2 ........................................................................................ 1
1.3 .................................................................................................... 3
1.4 .................................................................................................... 4
1.5 .................................................................................................... 5
1.6 .................................................................................................... 7
1.7 .................................................................................................................... 9
1.8 .................................................................................................................. 11
............................................................................................. 12
2.1 .................................................................................................. 12
2.2 .............................................................................. 13
2.3 .......................................................................................................... 14
2.3.1 .............................................................................................. 14
2.3.2 .............................................................................................. 15
2.3.3 .............................................................................................. 16
2.4 ...................................................................................................... 18
2.4.1 ...................................................................................................... 18
2.4.2 .......................................................................................... 19
2.4.3 .............................................................................................. 21
2.4.4 ...................................................................................................... 21
2.5 .............................................................................................. 23
vii
...................................................................................... 24
3.1 ...................................................................................................... 24
3.2 .................................................................................................. 25
3.3 .............................................................................. 26
3.3.1 .................................................................................................. 27
3.3.2 .............................................. 29
3.4 .......................................................................................................................... 31
.................................................. 32
4.1 .............................................................................................. 32
4.2 .................................................................................................. 33
4.2.1 .................................................................. 33
4.2.2 .......................................................................................... 34
4.3 ...................................................................................................... 35
4.3.1 ...................................................................................... 35
4.3.2 .............................................................................. 36
4.3.3 .............................................................................. 38
4.4 .......................................................................................................... 39
4.5 ...................................................................................................... 40
4.5.1 .............................................................. 41
4.5.2 .................................. 41
4.5.3 ...................................... 44
4.6 .......................................................................................................................... 45
.................................................. 46
5.1 .............................................................................. 46
5.2 ...................................................................................... 47
5.3 ...................................................................................................... 48
5.3.1 .............................................................. 49
5.3.2 .................................. 50
5.4 .......................................................................................................................... 51
.................................................. 53
6.1 ...................................................................................... 53
6.1.1 Kinematics ................................................................ 53
6.1.2 .......................................................................................... 54
6.2 .......................................................................................... 56
6.2.1 .......................................................... 56
6.2.2 .............................................................................. 57
6.2.3 .................................................................................. 58
viii
6.3 ...................................................................... 59
6.3.1 .................................................................. 59
6.3.2 .................................................................................................. 60
6.3.3 .............................................................................................. 62
6.3.4 .......................................................................... 64
6.4 ...................................................................................... 65
6.5 ...................................................................................................... 66
6.5.1 .................................. 67
6.5.2 .................................. 67
6.5.3 .............. 69
6.6 .......................................................................................................................... 71
...................................................................................... 73
7.1 .............................................................. 73
7.2 ...................................................................................................... 76
7.2.1 .............................................................................................. 77
7.2.2 ...................................................................................... 79
7.3 .................................................................................................. 79
7.3.1 ...................................................................................... 79
7.3.2 ...................................................................... 81
7.3.3 ...................................................................................... 81
7.3.4 ...................................................................... 82
7.3.5 .................................................................................. 82
7.4 ...................................................................................... 83
7.5 ...................................................................................................... 84
7.5.1 .......................................... 85
7.5.2 .................................................................. 88
7.5.3 ...................................................................................................... 90
7.5.4 ...................................................................................... 94
7.6 .......................................................................................................................... 95
.................................................. 97
8.1 .............................................................................. 97
8.2 ...................................................................................... 98
8.3 ...................................................................................................... 98
8.3.1 ............................ 100
8.3.2 .................................... 100
8.3.3 ............................................................................................................ 102
8.4 Carsim ................................................................................ 105
8.4.1 ........................................................................................ 108
ix
8.4.2 .................................................................................................... 110

8.4.3 ............................................................................................................ 113
8.5 ........................................................................................................................ 113
.................................................................................... 115
9.1 ............................................................................................................ 116
9.2 ............................................................ 116
9.3 ................................................................................................ 118
9.3.1 ........................................................................................ 119
9.3.2 .................................................................................... 120
9.3.3 .................................................................................................... 121
9.3.4 ................................................................................ 123
9.3.5 ........................................................................................ 127
9.4 ................................................................................................................ 128
9.4.1 .................................................................................... 128
9.4.2 ........................................................................................ 128
9.4.3 ................................................................................ 129
9.4.4 I ...................................................................... 132
9.4.5 IICarsim ................................................................ 137
9.4.6 ........................................ 139
9.5 ........................................................................................................................ 141
9.5.1 .................................................................... 141
9.5.2 .................................................................................................... 142
9.5.3 ................................................................................................ 143
9.5.4 ........................................................................ 145
9.6 ........................................................................................................................ 146
....................................................................................... 148
10.1 ........................................................................................................................ 148
10.2 ................................................................................................................ 151
.................................................................................................................. 153
A ......................................................................................... 159
A.1 ........................................................................ 160
A.2 ................................................................................................ 160
2.1 [10]................................................................................................20
2.2 [10]................................................................................................20
4.1 ..................................................................................................41
6.1 ..........................................................................................................64
6.2 ......................................................................................71
7.1 ..................................................................................90
7.2 ......................................................................................93
7.3 ..............................................................................95
8.1 ............................................102
8.2 ................................................................................102
8.3Carsim5.16b BigCar ......................................................109
9.1 ............................................................................................................131
9.2 ................................................................................................131
xi
1.1 ............................................................................................2
1.2 [43]..........................................................................6
1.3 [44]..............................................................................6
2.1 ..........................................................................................12
2.2 a r b r c
r ........................................................................................................................14
2.3 ..........................................................................................19
2.4 ..........................21
2.5 ..........................................................................................................22
3.1 ......................................................................................25
3.2

................................................................................................................26
4.1 ..........................................................................................40
4.2 ......................................42
4.3 ..............................42
4.4
6.8 .........................43
4.5 ..............................43
4.6

........................................................................................................44
4.7 ..............................45
5.1 ......................................................................................48
5.2 ......................................49
5.3 ..........................................50
5.4 ..........................................51
6.1 a) b) ................................................55
6.2 ..............................................56
6.3 ..................................................................57
6.4 ......................................................................................65
6.5 ..........................................................................................66
6.6 ......................67
6.7

............................................................................................................................68
6.8
........................................................................68
6.9
..........................................69
xii
6.10
............................................................................................70
6.11 .........70
7.1
4877N ................................74
7.2 ......................................................................................84
7.3 ......................................................................85
7.4 ..........................................86
7.5 ......87
7.6
........................................................................................................................87
7.7 ..........................................88
7.8 ......89
7.9
........................................................................................................................89
7.10 .................................................................91
7.11 .................................................................91
7.12
........................................................................................................92
7.13 1
2 3 4 ..........................................................................................95
8.1 ......................................................................................98
8.2 ..........................................................99
8.3 ..........................................................99
8.4 .........................................101
8.5 ........................................101
8.6
..............................................................................................................................103
8.7
..............................................................................................................................103
8.8 .................................................................104
8.9 .................................................................105
8.10 Carsim SIMULINK ...........106
8.11Carsim 205/60R14
..............................................................................................................107
8.12Carsim 205/60R14
..............................................................................................................107
8.13 Carsim .....................109
8.14 Carsim
..................................................................................111
8.15 Carsim
..................................................................................................................111
8.16 Carsim
..........................................................................................................................112
xiii
8.17 Carsim .............................112

9.1 [52]..........................................................................................115
9.2 ............................................................................129
9.3 Carsim

..............................................................130
9.4a
b
c 25
23.9 .....................................................................................................132
9.5
..........................................................................133
9.6 25Hz .........................133
9.7 .................134
9.8 12.5Hz
......................................................................................................................134
9.9 a
b
c 25
24.6 .................................................................................................135
9.10
......................................................................................136
9.11
..............................................................................136
9.12 Carsim .........................................137
9.13a Carsim
b
c 25
15.3 .............................................................................................138
9.14 Carsim
......................................................................................138
9.15 ......................................................139
9.16 a
b
c 25 24.7 ...140
9.17
......................................................................................................................140
9.18 Carsim
..............................................................................................................................142
9.19
..............................................................................................144
9.20
abc..........145
xiv
1.1
1999 NHTSA
Sport Utility Vehicle, SUV

62%[1]
/
[2][3]
[4][5]
1.2
Euler Angles
1.1 {g}{r}
{v}
1.1
g , g , g
yaw-pitch-roll
Cgv R x, g R x, g R x, g (1.1)
1 0 0
R x, g 0 cos g

sin g
0 sin g cos g

cos g 0 sin g
R x, g 0

1 0
sin g 0 cos g

cos g sin g 0
R x, g sin g cos g 0
0 0 1
r , r , r
pitch-roll-yaw
Cgr R z , r R x, r R y, r (1.2)
v , v , v
yaw-pitch-roll
C rv R x, v R x, v R x, v (1.3)
1.3

Model-based EstimationSensor-based
EstimationState
Observer Technology[6]-[19]
Sensor Fusion Technology

[20]-[28]
Single Track Model [14]-[17] [18]

Quarter Vehicle Model[19][10]-[13]
[6]-[9]
Inertial Measurement Unit, IMU

Global Positioning System, GPS
[24]-[28]
Signal Bias
[6][7][13][16]-[18]
[6][7]
1
2
[13][16]-[18]
1.4
[2]-[5]
Open Loop
System Identification[29]
Persistent Excitation
J. Ryu [11]
z
[34][35]
Parameter Observability[42]
1.5
B. Chen [43]
Neural Network
Time-to-rollover
1.2 1988 Suzuki
Samurai 1997 Jeep Cherokee
1988Suzuki Samurai : 3 deg

1997Jeep Cherokee : 3.5 deg
Yes

TTR
?
(TTR)
No
Yes No
TTR=1
- 1?
1.2 [43]
W. Travis [44]
a y ,max 1.4
Vmax
Rollover Velocity
Fz ,max t
a y ,max
2mh (1.4)
Vmax
Fz ,max t m h
1.3
a y ,max
h
t
Fz ,min Fz ,max
1.3 [44]
M. Greene [45]
Curve Fitting Method
C. Liu [39]
P. Gaspar [5]
Vehicle
Rollover
1.6
Direct Yaw Moment Control

[46]-[50]
[49][50]
[47][48]
[47][48]

Hierarchical Architecture[51]-[54]
Control Distribution[51]-[54]
1
Optimization ProblemNumerical
Search Method
[52][55][56]2
[53]
Wang [51]
Ono [55]
Mokhiamar [54]
Lagrange MultiplierAnalytical Solution
[5]
1.7
1)

2)

3)

4)

5)

6)

10
1.8
11
20 Full-state Vehicle Model
Sprung Mass System Unsprung Mass

SystemRigid Body Motion
Hingwe [9]
lf
lr
2t f
z
y
{v} x
h
2t r 1a
1b
z 1
1
y
4 x
2
{a}
z 3
y z
y x
{g} {r}
x

2.1
2.1
12
{a} 2.1
z x x
r , r , r
r 0
1.11.3
Cgv C rv Cgr (2.1)
2.1
2.2

2.2
Ga , x g sin r cos v cos r sin r sin v

Ga , y g sin r sin v cos r sin r cos v (2.2)
Ga , z g cos r cos r
g Ga , x , Ga , y , Ga , z x, y, z
13
(a) (b) (c)

x z
{v} z
y z {v} z {v}
y
x y
y {r} x x {r}
y {r}
z mtot g mtot g z
r x y
{g} {g} r r x
{g}
O
2.2 a r b r c r
2.3
2.3.1
a a 0 2 r r
r r

a a a , x , aa , y , a a , z T
r xa , ya , za T
0, 0, v
T
a a 0
r
z
2 v 0, v 0
a r r (2.3)
14
Newtons Second Law
mtot xa y a v Fx ,tire mtot Ga , x

mtot ya x a v Fy ,tire mtot Ga , y (2.4)
mtot za Fz , spring mtot Ga , z
mtot xa , y a , z a
Fx ,tire , Fy ,tire , Fz , spring
2.3.2
v , x v v sin v
v , y v cosv v cos v sin v (2.5)
v , z v sin v v cos v cosv
v , x v v sin v vv cos v
v , y v cos v v cos v sin v vv sin v vv sin v sin v vv cos v cos v
v , z v sin v v cos v cos v vv cos v vv sin v cos v vv cos v sin v
v , x , v , y , v , z
M x I x v , x I y I z v , yv , z
M y I y v , y I z I x v , zv , x (2.6)
M z I z v , z I x I y v , xv , y
15
M x , M y , M z I x , I y , I z
2.52.6
v v sin v vv cos v
M x Iz Iy
Ix

Ix

v cos v v cos v sin v v sin v v cos v cos v
v cos v v cos v sin v vv sin v vv sin v sin v vv cos cos v
My
Iy

Ix Iz
Iy

v v sin v v sin v v cos v cos v
v sin v v cos v cos v vv cos v vv sin v cos v vv cos sin v
M z Iy Ix
Iz

Iz

v v sin v v cos v v cos sin v
(2.7)
2.3.3

Fx ,tire , Fy ,tire , Fz , spring 2.4
Fv , x Fx ,tire cos v Fz , spring sin v

Fv , y Fx ,tire sin v sin v Fy ,tire cos v Fz , spring cos v sin v (2.8)
Fv , z Fx ,tire sin v cos v Fy ,tire sin v Fz , spring cos v cos v
Fv , x , Fv , y , Fv , z v
2.1 1a
2.1 1b
2.1 1
1 1a 1b (2.9)

1a l f tf h/2 T
16
1b 1c sin v 1c cos v sin v 1c cos v cos v

T
1c l f sin v t f cos v sin v h cos v cos v / 2 Z z a
l f t f h
2 2 a 2b (2.10)
2a l f tf h/2
T
2b 2 c sin v 2 c cos v sin v 2 c cos v cos v

T
2 c l f sin v t f cos v sin v h cos v cos v / 2 Z za
3 3 a 3b (2.11)
3a l r h / 2
T
tr
3b 3c sin v 3c cos v sin v 3c cos v cos v

T
3c lr sin v t r cos v sin v h cos v cos v / 2 Z za
4 4 a 4b (2.12)
4 a l r h / 2
T
tr
4b 4 c sin v 4 c cos v sin v 4 c cos v cos v

T
4 c lr sin v tr cos v sin v h cos v cos v / 2 Z z a
lr t r 2.8
2.12
M F
i 1~ 4
i i (2.13)
M Mx My Mz
T

F Fv , x Fv , y Fv , z
T
17
2.4
2.4.1
K spring C1eC2 ( H i C3 ) (2.14)
H a ,i , for H a ,i mu ,i g / K spring
H a ,i
mu ,i g / K spring , for H a ,i mu ,i g / K spring
K spring C1 , C 2 , C3 mu ,i i
H a ,i i
H a ,1 za l f sin v t f cos v sin v (2.15)
H a , 2 za l f sin v t f cos v sin v
H a ,3 za lr sin v t r cos v sin v
H a , 4 za lr sin v t r cos v sin v
2.142.15
Fz , spring ,i K spring H a ,i Ddamper H a ,i mu ,i g (2.16)
18
Ddamper
Ddamper K spring
2.3
2.4.2
1993 Pacejka Bakker

Magic Formula Tire Model[57][58]

Fa ,tire Dx sinC x tan 1 Bx Ex Bx tan 1 Bx
(2.17)
Fb,tire Dy sinC y tan 1 B E B tan B
y y y
1
y
Fa ,tire Fb ,tire Slip Ratio
Slip Angle Bx , C x , Dx , E x
B y , C y , D y , E y
2.1 2.2
2.17
rii Vi cos i
i (2.18)
maxrii , Vi cos i
19
V1 ( x a t f v ) 2 ( y a l f v ) 2
V2 ( xa t f v ) 2 ( y a l f v ) 2
V3 ( xa t r v ) 2 ( y a lr v ) 2
V4 ( x a t r v ) 2 ( y a lr v ) 2
i i ri i
i i w,i (2.19)
w,1 tan 1 ( y a l f v ) /( xa t f v )
w, 2 tan 1 ( y a l f v ) /( xa t f v )
w,3 tan 1 ( y a lr v ) /( x a lr v )
w, 4 tan 1 ( y a lr v ) /( xa t r v )
i i w,i i
2.1 [10]
0 0
Bx 22 Fz , spring 1940 / 645 22 Fz , spring 1940 / 430
Cx 1.35 Fz , spring 1940 / 16125 1.35 Fz , spring 1940 / 16125
Dx 2000 Fz , spring 1940 / 0.956 1750 Fz ,spring 1940 / 0.956
Ex 3.6 0.1
2.2 [10]

By 10.2 5200 Fz ,spring / 4000
Cy 1.26 Fz , spring 5200 / 32750
Dy 2
0.0003Fz , spring 1.5096 Fz , spring 22.73
Ey 1.6
20

2.4.3

2.4 2.20
I wheel i ri Fa ,tire ,i Tb ,i Tm ,i (2.20)
I wheel Tb ,i i
Tm,i i
Tb ,1
Tm ,1 r1
Fa ,tire ,1
2.4
2.4.4
[59]
2.5
2t f
cot outer cot inner (2.21)
l f lr
21
outer inner
18 sw
sw / 18
2.21
2.22 2.5 2.4
Fx ,tire ,i Fa ,tire,i cos i Fb ,tire ,i sin i

(2.22)
Fy ,tire ,i Fa ,tire ,i sin i Fb ,tire ,i cos i
i i
3 4 0
outer
inner
2t f Fx ,tire ,1
1
x Fa ,tire ,1
x
x
y y
{a} l f lr Fy ,tire ,1
y
Fb ,tire ,1
2.5
22
2.5
xa , x a ,
ya , y a , z a , za , v , v , v , v , v , v H a ,1 , H a , 2 , H a ,3 ,
H a , 4 1 , 2 , 3 , 4 20
23
3.1
Switching Computation Scheme

Domain Decomposition[60]
Switching Cycle
3.1
x f1 x1 , x2
x f x 1 (3.1)
x2 f 2 x1 , x2
x f x1 , x2
f1 , f 2
24
x

x f x
x1 , x2 T

x1

x1 f1 x1 , x2 x2 f 2 x1 , x2
x2
3.1
3.2
Switching Observer Scheme

3.1
State Observer

x1 f1 x1, x2 L1 y1 y1
(3.2a)
y1 h x
1 1, x
2
x 2 f x
2 1, x L y
2 2 2 y 2
(3.2b)
y2 h x
2 1, x
2
y1 , y2 L1 , L2
3.2
25
y1 y2
x f x

x1 f1 x1 , x2 x2 f 2 x1 , x2
x1
1 1
x f x , x L y y
1 2 1 1 1 2 2 1
x f x , x L y y
2 2 2 2
y1 h x , x
1 1 2 x2 y 2 h x , x
2 1 2
3.2

3.3
x f x(t ) (3.3)
x n f : n n 0 t t n
x f x (t ), x2 (t )
x 1 1 1 f x(t ) (3.4)
x2 f 2 x1 (t ), x2 (t )
x1 m x2 nm f1 : m m f 2 : nm n m
1One-sided Lipschitz condition[61]2Lipschitz condition[62]3

Mean Value Theorem[63] One-sided Lipschitz [61]
3.4
26
f1 x1 (t ), x2 (t ) dt
t n1
x1,n 1 x1,n
tn
(3.5)
f 2 x1 (t ), x2 (t ) dt
t n1
x2,n 1 x2,n
tn
xi ,n xi t t t n xi ,n1 xi t t t n
x1 t x2 t 3.53.5
[64]
[64]
Switching Time
3.5
~ x1,n f1 ~
x1,n 1 ~ x2,n dt
x1 (t ), ~
t n1
tn
(3.6)
~ x2,n f 2 ~
x2,n 1 ~ x2 (t ) dt
x1,n 1 , ~
t n1
tn
3.3.1
3.53.6
1
2

x1,n 1 x1,n f1 x1,n , x2,n 2 A1, x1,n f1 x1,n , x2,n A1, x 2,n f1 x1,n , x2,n O 3
1
2

x2,n 1 x2,n f 2 x1,n , x2,n 2 A2, x1,n f 2 x1,n , x2,n A2, x 2,n f 2 x1,n , x2,n O 3

Ai , x1,n f i x1 (t ), x2,n
x1 x1 x1,n
(3.7)

Ai , x 2,n f i x1,n , x2 (t ) i 1, 2
x2 x 2 x2 , n
27
~ x1,n f1 ~
x1,n 1 ~ x2 , n O 2
x1,n , ~
(3.8)
~ x2,n f 2 ~
x2,n 1 ~ x2 , n O 2
x1,n 1 , ~
Switching Error
3.83.7
x1 2-norm
es ,1,n 1 2
2
es ,1,n 2
2
2 es ,1,n f1 ~
T
x2,n f1 x1,n , x2,n O 2
x1,n , ~ (3.9)
one-sided Lipschitz Lipschtiz 3.9 one-sided
Lipschitz K1 Lipschitz K 2
es ,1,n 1 2
2
es ,1,n 2
2
2K1 es ,1,n 2
2
2K 2 es ,1,n 2

es , 2 , n 2 O 2
(3.10)
1 2K1 2K 2 es ,1,n K 2 es , 2,n O
2 2 2
2 2
es , 2,n 1 2
2
1 2K 4 2K 3 es , 2,n 2
2
K 3 es ,1,n 2
2

O2 (3.11)
K 3 K 4 Lipschitz one-sided Lipschtiz
3.103.11
Es ,n 1 An Es ,n Ds (3.12)

Es ,n es ,1,n 2
2
, es , 2 , n 2

2 T
1 K 5 K 2
An
K 3 1 K 6

Dn O 2 , O 2
T
K 5 2 K1 K 2
K 6 2 K 4 K 3
28
An An
1 1
An 1 K 5 K 6 K 5 K 6 2 4 K 2 K 3 (3.13)
2 2
K 2 K 3 Lipschitz 3.13
K 5 0, K 6 0
(3.14)
K 5 K 6 K 2 K 3
K 5 K 6 one-sided Lipschitz 3.12
K1 K 4 3.14
An

Explicit Euler Method
3.3.2
3.6
x1,n 1 x1,n f1 x1,n , x2,n 1,n

(3.15)
x2,n 1 x2,n f 2 x1,n 1 , x2,n 2,n

i,n

Truncation Error ei xi xi
3.73.15
29
e1,n 1 e1,n M 1 1,n O 2

(3.16)
e2,n 1 e2,n M 2 2,n O 2

M 1 f1 x1,n , x2,n f1 x1,n , x2,n

M 2 f 2 x1,n 1 , x2,n f 2 x1,n , x2,n

M 1 M 2

M 1 A1, x1,n e1,n A1, x 2,n e2,n
(3.17)
M 2 A2, x1,n x1,n 1 x1,n A2, x 2,n e2,n

Ai , x1,n f i x1 (t ), x2,n
x1 x1 ax1,n 1 a x1,n

Ai , x1,n f i x1,n , x2 (t ) , a, b 0, 1
x2 x2 bx2,n 1 b x2,n
3.163.17

e1,n1 e1,n A1, x1,n e1,n A1, x 2,n e2,n 1,n
(3.18)

e2,n1 e2,n A2, x1,n e1,n A2, x 2,n e2,n 2,n
1,n 1,n O 2
O A x

x

2,n 2,n 2
2, x ,n 1, n 1 1, n
3.18

En 1 An En Dn (3.19)
En e1,n , e2,n
T
I A1, x1,n A1, x 2,n

An
A2, x1,n I A2, x 2,n

Dn 1,n , 2,n
T

Dn En
An
30
3.4
31
4.1
r , r
4.1
[65][66]Fading Memory Technique
r 0
(4.1)
r 0
22
32
4.2
22
[42] 484
22 22 484 22
22
11 242
2 11 11 242
4.2.1
22
Vehicle Yaw Model
Vehicle Roll Model xa , x a , ya , y a , v , v , 1 ,
2 , 3 , 4 , r , r za , za , v , v , v , v , H a ,1 ,
H a , 2 , H a ,3 , H a , 4
v vv sec v vv tan v v , y sin v sec v v , z cos v sec v (4.2a)
xa y a v Fx ,tire / mtot Ga , x
ya xa v Fy ,tire / mtot Ga , y
I wheel i ri Fa ,tire ,i Tb ,i Tm ,i
r 0
r 0
33
v v sin v vv cos v v , x (4.2b)
v vv cos v v , y cos v v , z sin v
za Fz , spring / mtot Ga , z

H a ,1 za l f v cos v t f v sin v sin v v cos v cos v
H a , 2 za l cos t sin sin cos cos

f v v f v v v v v v
H a ,3 za l cos t sin sin cos cos

r v v r v v v v v v
H a , 4 za l cos t sin sin cos cos

r v v r v v v v v v
4.2.2
3.2a3.2b

x1 f1 x1, x2 L1 y1 y1
(4.3a)
y1 h x
1 1, x
2
x 2 f x
2 1, x L y
2 2 2 y 2
(4.3b)
y2 h x
2 1, x
2
f1 , f 2 x1 , x2
y1 , y2
L1 , L2
34
y1 , y2
L1 , L2
4.3
Local
ObservabilityObservability Matrix
[67]
Y1 Y2
Wo
T
Y Y Y
Wo 1 , 1 , 1 , (4.4)

Y2 Y2 Y2
4.3.1
2.2
Y1
Y2
35
ygsensor

Y1 xasensor (4.5)
vsensor

xa y a v Ga , x sin v sin v ya xa v Ga , y cos v za Ga , z sin v cos v

xa

v
H asensor
,1
H a ,1
sensor
H a,2 H a,2
H asensor
,3
H
sensor a ,3
H a,4 H a,4
Y2 sensor
H a ,1 z a l f sin v t f cos v sin v
H asensor
,2
z a l f sin v t f cos v sin v
sensor
H a ,3 z a lr sin v t r cos v sin v
H sensor z a lr sin v t r cos v sin v
a,4
Y2
H asensor
,1 , H asensor
,2 , H asensor
,3 , H asensor
,4
[6]
Y2
4.3.2
r , r Ga , x , Ga , y , Ga , z
2.2
36
T
Y1 Y
Y
Wo,gravity 1 1
, ,
G a Y2 Y2 Y2
2 sin v sin v 2 cos v 2 sin v cos v
0 0 0

0 0 0

0 81 0 81 0 81
ygsensor ygsensor ygsensor

xa y a za

1 0 0

0 0 0

0 81 0 81 0 81

xa ya ygsensor
xa xa xa xa
y a yy aa

ygsensor
y a xa
ygsensor
za 1 y a
0 0 0

0 0 0
0 81 0 81 181
(4.6)

G a Ga , x , Ga , y , Ga , z T

Chain Rule
T
Y1 Y
Y
Wo,angle 1 1
, , ,
r , r , v Y2 Y2 Y2
T
Y1 Y
Y
, , , G
1 1
(4.7)

Ga , G ,
a Y Y Y
2 2 2
G

r , r , v
G a
,
,G a T
G
,
G a
37
cos r cos v ... sin r sin v ...

g g cos r cos r sin v g
sin r sin r sin v cos r sin r cos v
G a cos r sin v ... sin r cos v ...
g g cos r cos r cos v g
r , r , v sin r sin r cos v cos r sin r sin v

g sin r cos r g cos r sin r 0

(4.8)
[68]

, G
G a
4.64.8
4.8
4.3.3
xa
ya Y1
Y1 Y1 0
Y Y
xa 1 y 1 0 (4.9)
a
n1
38
124.9
Y 0 I 44
Wo,roll 2 46 (4.10)
Y2 A126 0124 1610
I A v 90
90
4.54.10
4.4
[42]Iterative Extended Kalman Filter
39
3.1
1
[42]2
[65][66]
A
4.5
MATLAB
90
4.1
12
3 4.2
4.7
1ms
4.1
Steering Maneuvers
200
180
160
140
120
deg
100
80
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.1
40

4.1

0.02 m/s2
0.05 m/s
0.4 deg
0.001 m
4.5.1
r 0, r 0
4.2 4.3
18
0.41 deg 0.45 deg
4.5.2
-10
10 r 10 deg, r 10 deg
4.4 4.5
0.5 deg
3.59 deg
41

Longitudinal Displacement xa Longitudinal Velocity x a Lateral Displacement ya Lateral Velocity y a
300 30 40 5
200 20 0
m/s
m/s
m
m
20
100 0 -5
0 10 -20 -10
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement za Yaw Angle v

Vertical Velocity z a Yaw Rate v
0 1 150 60
100 40
deg/s
deg
m/s
m
-0.1 0 50 20
0 0
-0.2 -1 -50 -20
0 5 10 0 5 10 0 5 10 0 5 10
Pitch Angle v Pitch Rate v Roll Angle v Roll Rate v

5 20 10 10
5
deg/s
deg/s
deg
deg
0 0 0
0
-5 -20 -5 -10
0 5 10 0 5 10 0 5 10 0 5 10
Wheel Angular Rate 1 Wheel Angular Rate 2 Wheel Angular Rate 3 Wheel Angular Rate 4
100 100 100 100
80 80 80 80
rad/s
rad/s
rad/s
rad/s
60 60 60 60
40 40 40 40
0 5 10 0 5 10 0 5 10 0 5 10
Suspension Displacement H a1 Suspension Displacement H a2 Suspension Displacement H a3 Suspension Displacement H a4

0.4 0.4 0.4 0.4
0.2 0.2
m
m
0.2 0.2
0 0
-0.2 0 0 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Sensor output
Real vehicle dynamics Time
Dynamics (sec) system
estimation
4.2
Road bank angle r

5
Designed road angles
Dynamics estimation system
deg
-5
0 1 2 3 4 5 6 7 8 9 10
Road grade angle r

5
deg
-5
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.3
42
Longitudinal Displacement xa Longitudinal Velocity xa Lateral Displacement ya Lateral Velocity ya

300 40 40 5
0
200 20
m/s
m/s
m
m
30 -5
100 0
-10
0 20 -20 -15
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement za Vertical Velocity za Yaw Angle v Yaw Rate v

1 60
2 60
40 40
0.5
deg/s
1
deg
20
m/s
m
20
0 0 0
0 -20
-0.5 -1 -20 -40
0 5 10 0 5 10 0 5 10 0 5 10

4 20 100 300
2 50 200
deg/s
deg/s
deg
deg
0 100
0 0
0
-2 -20 -50 -100
0 5 10 0 5 10 0 5 10 0 5 10
150 150 150 150
rad/s
rad/s
rad/s
rad/s
100 100 100 100
50 50 50 50
0 5 10 0 5 10 0 5 10 0 5 10

0.4 0.4 0.4 0.4
0.2 0.2
m
m
0.2 0.2
0 0
-0.2 0 0 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Sensor output
Real vehicle dynamics Time
estimation
4.4
6.8
Road bank angle r

5
0 Dynamics estimation system
deg
-5
-10
-15
0 1 2 3 4 5 6 7 8 9 10
Road grade angle r

15
10
deg
-5
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.5
43

4.5.3
r 10 sin 2 0.25t deg, r 10 sin 2 0.25t deg
4.6 4.7
0.28 deg 0.99 deg

300 30 40 5
200 20 0
m/s
m/s
m
20
100 0 -5
0 10 -20 -10
0 5 10 0 5 10 0 5 10 0 5 10

0
1 150 60
100 40
deg/s
deg
m/s
m
-0.1 0 50 20
0 0
-0.2 -1 -50 -20
0 5 10 0 5 10 0 5 10 0 5 10

5 20 10 10
5
deg/s
deg/s
0
deg
deg
0 0
0 -10
-5 -20 -5 -20
0 5 10 0 5 10 0 5 10 0 5 10
100 100 100 100
80 80 80 80
rad/s
rad/s
rad/s
rad/s
60 60 60 60
40 40 40 40
0 5 10 0 5 10 0 5 10 0 5 10

0.4 0.4 0.4 0.4
0.2 0.2
m
0.2 0.2
0 0
-0.2 0 0 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec)
Real vehicle dynamics Sensor output Timeestimation
4.6

44
Road bank angle r

10

deg
0
Dynamics estimation system
-5
-10
0 1 2 3 4 5 6 7 8 9 10
Road grade angle r

10
5
deg
-5
-10
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
4.7
4.6
0.5 deg
3.59 deg
45
5.1
x Ax Bu (5.1)
x n u m A B
xt e A t t0 xt0 e A t Bu d
t
(5.2)
t0
xt x t ut u t
t 0 5.2
A B ut x t 0
46

mtot ya x a v Fy ,tire mtot Ga , y
I x v , x I y I z v , yv , z M x
I y v , y I z I x v , zv , x M y
I z v , z I x I y v , xv , y M z (5.3)
I wheel i ri Fa ,tire ,i Tb ,i Tm,i (i 1 ~ 4)
H a ,1 za l f v cos v t f
v sin v sin v v cos v cos v
H z l cos t
a,2 a f v v sin sin cos cos
f v v v v v v
H a ,3 za lrv cos v t sin sin cos cos

r v v v v v v
H a , 4 za lrv cos v t sin sin cos cos

r v v v v v v
Euler Method Trapezoidal Method Taylor Series

Method-Runge-Kutta Method[69]
- MATLAB ode45.m
5.2
5.1
47
H asensor ~ H asensor
ygsensor , xasensor , vsensor ,1 ,4
5.1
5.3
6 5 8
5.2 6 6 8
6 6
5.3 5.4
1ms
48
Steering Maneuvers
200
180
160
140 Turn on
the vehicle dynamics prediction system
120
deg
100
80
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
5.2
5.3.1
5.3
8
8
6 8 1
0.21%
/1[70]
49

250 20 40
0
200 15 20
m/s
m/s
m
m
-5
150 10 0
100 5 -20 -10

5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10

-0.08 0.1 200 50
-0.1 150
deg/s
deg
m/s
m
0 0
-0.12 100
-0.14 -0.1 50 -50

5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10

1.5 deg/s
1 10 5
deg/s
0
deg
deg
1 0 5
-5
0.5 -1 0 -10
5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10
80 80 80 80
60 60 60 60
rad/s
rad/s
rad/s
rad/s
40 40 40 40
20 20 20 20
5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10

0.2 0.25 0.2 0.1
0.2
m
m
0 0.15 0
0.15
-0.2 0.1 0.1 -0.1

5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10 5 6 7 8 9 10
Time (sec) Time (sec) Time Real
(sec)vehicle dynamics Timeprediction
5.3
5.3.2
-10 10 r 10 deg, r 10 deg
5.4
4.3%

0.21% 4.3%
50

250 30 40 10
20 0
m/s
m/s
m
m
200 28
0 -10
150 26 -20 -20

5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
Vertical Displacement za Vertical Velocity za Yaw Angle v Yaw Rate v

1 1.5 60 20
0.5
deg/s
1 0
deg
m/s
m
50
0 0.5 -20
-0.5 0 40 -40
5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
Pitch Angle v Roll Angle v

Pitch Rate v Roll Rate v
2 10 150 400
100
deg/s
deg/s
5
deg
deg
1 200
0 50
0 -5 0 0
5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
89.5 130 115 104.36
89.4 120 110

rad/s
rad/s
rad/s
rad/s
104.35
89.3 110 105
89.2 100 100 104.34

5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 6 7

0 0.4 0.4 0
m
-0.01 0.2 0.2 -0.005
-0.02 0 0 -0.01
5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7 5 5.5 6 6.5 7
Time (sec) Time (sec) Time Real
(sec)vehicle dynamics Time
prediction
5.4
5.4
MATLAB
0.21% 4.3%
51
52
Sensor Fusion System

Alpha-beta Filter
6.1
[24]-[28]
6.1.1 Kinematics
6.1
6.2
x ang A ang x ang B ang u ang

1
(6.1)
033 x ang C u ang

x ang g , g , g T
53
1 0 sin g

C 0 cos g cos g sin g
0 sin g cos g cos g

u ang xgyro , ygyro , zgyro T
xgyro , ygyro , zgyro
x pos A pos x pos B pos u pos

0 I 33 pos 033 pos (6.2)
33 x v 1 u
033 033 Cg

x pos x g , y g , z g , x g , y g , z g T

u pos Axacc , Ayacc , Azacc T
Axacc , Ayacc , Azacc x g , y g , z g x g , y g , z g
{g}

Offset
6.1.2

6.2
6.1
[27][28]
54
100 Hz
10 Hz
a)
Global
Positioning Filter
Positions,velocities error
Systems
andangles
Vehicle
Inertial

Measurement
Accelerationsand
Units Stateestimation
angularrates
b)
Global
Positioning Filter
Positions,velocities error
Systems
andangles
Vehicle
Inertial
Accelerationsand
Measurement angularrates
Units
Stateestimation
6.1 a) b)
55
6.2
6.2
2.12.1 3 3
6.2.1

Septentrio PolaRx2e
[71]
6.2
GPS 19mm
56
Wabba
[72]
x ggps , y ggps , z ggps
ggps , ggps , ggps gps
6.3
6.2.2
6.3
2.15
z sus

lr H asus
,1 H a , 2 l f H a , 3 H a , 4
sus sus sus
(6.3)
a
2l f 2lr
H asus
,1 H a , 2 H a , 3 H a , 4
sus sus sus

vsus sin 1
2l f 2lr
H asus
,1 H a , 2 H a , 3 H a , 4
sus sus sus

vsus sin 1
2t f 2tr cos v
sus
57

6.2.3
1) ggps , ggps , ggps
2) vsus vsus
3.3
3) r 0
2.1
Cgv C rv Cgr

R x, v R x, r R y, r R x, vsus R x, R x, R x, R x,
T
v
sus T gps
g
gps
g
gps
g
(6.4)
6.4
v r r
r sin 1{ cos ggps sin ggps sin vsus sin ggps sin ggps sin ggps sin vsus sin vsus
cos ggps cos ggps sin vsus cos vsus cos ggps sin ggps sin ggps cos vsus cos vsus (6.5)
sin ggps cos ggps cos vsus cos vsus }
r tan 1{[ cos ggps cos ggps sin vsus sin ggps sin ggps cos ggps sin vsus cos vsus
cos ggps sin ggps cos ggps cos vsus cos vsus sin ggps sin ggps cos vsus cos vsus ] /
[sin ggps sin vsus sin ggps cos ggps sin vsus cos vsus
cos ggps cos ggps cos vsus cos vsus ]}
v tan 1{[cos ggps cos ggps sin r sin r sin ggps cos r cos r
sin ggps sin r cos r ] /[cos ggps cos ggps cos r sin ggps sin r ]}
58

6.4
6.3
6.3.1
4.1
r 0
r 0 (6.6)
v 0
6.16.2
x fus A fus x fus B fusu fus (6.7)
T T
x fus x pos , x ang , r , r , v T
A pos 033 033

A fus
033 A ang
033
033
033 033
59
B pos 0 63
B fus

063 B ang

u fus u pos , u ang T
6.3.2

y1gps x ggps , y ggps , z ggps , ggps , ggps , ggps (6.8)
6.8
y gps v
v

2 C g 1, 1, C g 1, 2
(6.9)
C C 1, 1, C C 1, 2
v
r
r
g
v
r
r
g
M n, m M n m
Cgv 1, 1 cos ggps cos ggps
Cgv 1, 2 cos ggps sin ggps
C rvCgr 1, 1 cos vsus cos v cos r cos vsus sin v sin r sin r sin vsus cos r sin r
C rvCgr 1, 2 cos vsus sin v cos r sin vsus sin r
6.9 ggps , ggps 6.9
r , r , v r , r
6.9 v
6.8
60

y1sus C rv 1, 3, C rv 2, 3, C rv 3,3

CgvCg 1, 3, CgvCg 2, 3, Cgv Cgr 3, 3
rT rT T
(6.10)
C rv 1, 3 sin vsus
C rv 2, 3 sin vsus cos vsus
C rv 3, 3 cos vsus cos vsus
CgvCgr 1, 3 cos ggps cos ggps cos r sin r cos ggps sin ggps sin r
T
sin ggps cos r cos r

CgvCgr 2, 3 sin ggps sin ggps cos ggps cos ggps sin ggps cos r sin r
T
sin gps
g sin ggps sin ggps cos ggps cos ggps sin r
sin gps
g cos gps
g cos r cos r

CgvCgr 3, 3 cos ggps sin ggps cos ggps sin ggps sin ggps cos r sin r
T
cos gps
g sin ggps sin ggps sin ggps cos ggpssin r
cos gps
g cos gps
g cos r cos r
6.10 vsus , vsus 6.10
ggps , ggps , ggps , r , r 6.10 r , r
y2sus zasus
(6.11)
Cgr 3, 1x g Cgr 3, 2 y g Cgr 3, 3z g
61
Cgr 3, 1 sin r
Cgr 3, 2 sin r cos r
Cgr 3, 3 cos r cos r
6.10
6.10
6.8Observability Matrix
Rank6.96.10
6.11
6.7
Observable
6.3.3

x fus A fus x fus B fusu fus Lfus y x fus y x fus (6.12)
62
^ Lfus
y x fus y x fus
6.12
6.1
Multi-rate Kalman Filter
[42][73]
Extended Kalman Filter

y x fus y1gps , y gps sus sus
2 , y1 , y2 T
(6.13)
y x y
fus gps T
1 , y gps sus sus
2 , y1 , y2

y x fus 016 , 012 , y1sus , y2sus T
(6.14)
y x 0
fus T
sus sus
16 , 012 , y 1 , y 2
Recursive Least-squares Method6.4
6.2.3
63

[42][73]
6.1

5 Hz 0 0.4 deg

a 5 Hz 0 1 m or 3 m
1000 Hz 0 0.02 m/s2

1000 Hz 0 0.08 deg/s
1000 Hz 0 0.001 m
1000 Hz 0 3 deg/s
a

[74] 1m
3m
6.3.4

Frequency
WidthDelay Time[42]
1 Ts
x k 1 x k 1 K k 1 z k 1 z k 1
0 1 (6.15)
K k 1 , / Ts
T
64
x z z
Ts
6.4
6.4
x g , y g , z g x g , y g , z g
g , g , g v , v , v
r , r

1234
6.4
65
6.5
MATLAB
90 6.5
1
23
6.6 6.9
1ms
6.1
Steering Maneuvers
200
180
Steering maneuvers in case 2
160
140
120
deg
100
80
Steering maneuvers in case 1 & 3
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
6.5
66
Logitudinal Displacement xg Logitudinal Velocity xg Absolute Roll Angle g Road Bank Angle r
200 26 6 0.6
150 24 4 0.4
22
deg
deg
m/s
m
100 Real vehicle dynamics 2 0.2
20
50 Sensor output 0 0
Sensor fusion system 18
0 16 -2 -0.2
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement y
g Lateral Velocity y Absolute Pitch Angle
g
Road Grade Angle
r
g
60 2 0.2
20
40 0
1
deg
deg
m/s
m
10 -0.2
20 0
-0.4
0 0 -1 -0.6
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement zg Vertical Velocity z Absolute Yaw Angle

g
Vehicle Yaw Angle
v
g
2 50 50
0.2
40 40
30 30
deg
deg
m/s
m
0 0
20 20
10 10
-2 -0.2 0 0
0 5 10 0 5 10 0 5 10 0 5 10
Time (sec) Time (sec) Time (sec) Time (sec)
6.6
6.5.1
6.5
6.6
6.2
6.5.2
6.5
6.7
6.8
6.9
67
200 30 15 0.5
150 20
10 0
deg
deg
m/s
m
100 Real vehicle dynamics 10

Sensor output 5 -0.5
50 0
Sensor fusion system
0 -10 0 -1
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement yg Lateral Velocity yg Absolute Pitch Angle g Road Grade Angle r
60 2 2
15
40 10
1
deg
deg
m/s
m
5 0
20
0 0
0 -5 -2
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement zg Vertical Velocity zg Absolute Yaw Angle g Vehicle Yaw Angle v
2 150 150
0.6
1 0.4
100 100
deg
deg
0.2
m/s
m
0
0 50 50
-1 -0.2
-2 -0.4 0 0
0 5 10 0 5 10 0 5 10 0 5 10
6.7

Front-left normal force Front-right normal force

5000 10000
4000 9000
8000
3000
N
7000
2000
6000
1000 5000
0 4000
0 2 4 6 8 10 0 2 4 6 8 10
Rear-left normal force Rear-right normal force

4000 8000
3000 7000
2000 6000
N
1000 5000
0 4000
-1000 3000
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)
6.8

68
Vehicle Pitch Angle

2
Real vehicle dynamics
Suspenion displacement sensor output
deg
1
0
0 1 2 3 4 5 6 7 8 9 10
Vehicle Roll Angle

10
deg
-10
0 1 2 3 4 5 6 7 8 9 10
Relative Vertical Displacement

-0.05
m
-0.1
-0.15
0 1 2 3 4 5 6 7 8 9 10
time (sec)
6.9

6.5.3

6.5
r 5 sin 2 0.25t deg r 5 sin 2 0.25t deg
6.10
6.2
6.11
69
250 25 10 5
200 5
150
deg
deg
m/s
m
Real vehicle dynamics 20 0 0
100
Sensor output -5
50 Sensor fusion system
0 15 -10 -5
0 5 10 0 5 10 0 5 10 0 5 10
50 10 5
15
40
30 10
deg
deg
m/s
m
20 5 0 0
10
0
0
-10 -5 -10 -5
0 5 10 0 5 10 0 5 10 0 5 10
4 50 50
4
40 40
2 2 30 30
deg
deg
m/s
m
0 20 20
0 10 10
-2
0 0
-2 -4 -10 -10
0 5 10 0 5 10 0 5 10 0 5 10
6.10

400 5 2
Real vehicle dynamics 24
Sensor fusion system 0 0
m/s
m/s
m
200
22 -5 -2
0 20 -10 -4
0 5 10 0 5 10 0 5 10 0 5 10

Vertical Displacement za Vertical Velocity z a Yaw Angle v Yaw Rate v
0 0.5 50 20
40
deg/s
30 10
deg
m/s
m
-0.1 0 20
10 0
0
-0.2 -0.5 -10 -10
0 5 10 0 5 10 0 5 10 0 5 10

2 5 5 5
4
deg/s
deg/s
3
deg
deg
1 0 2 0
1
0
0 -5 -1 -5
0 5 10 0 5 10 0 5 10 0 5 10
80 80 80 80
rad/s
rad/s
rad/s
rad/s
75 75 75 75
70 70 70 70
0 5 10 0 5 10 0 5 10 0 5 10
Suspension Displacement Ha1 Suspension Displacement Ha2 Suspension Displacement Ha3 Suspension Displacement Ha4
0.4 0.4 0.2 0.2
m
0.2 0.2 0.1 0.1
0 0 0 0
0 5 10 0 5 10 0 5 10 0 5 10
6.11
70

6.2
a

xg 0.2104 0.2687 0.2701 m

yg 0.1910 0.4207 0.2749 m

zg 0.1219 0.1271 0.2556 m
x g 0.0688 0.0807 0.0534 m/s

y g 0.0598 0.0661 0.0849 m/s

z g 0.0136 0.0897 0.0346 m/s
g 0.0532 0.0352 0.1114 deg

g 0.0152 0.0179 0.0891 deg

g 0.0877 0.0416 0.0431 deg
r 0.0594 0.0452 0.1456 deg

r 0.0425 0.3292 0.0395 deg
v 0.0961 0.0423 0.0525 deg
a

5 10
6.6
0.3 m 0.11 deg

0.15 deg
71
72
Recursive Least-squares Method
Tracking Stiffness Coefficients Cornering

Stiffness Coefficients
7.1
1
2

mtot ya x a v Fy ,tire mtot Ga , y (7.1)
73
I x v , x I y I z v , yv , z M x
I z v , z I x I y v , xv , y M z
I wheel i ri Fa ,tire ,i Tb ,i Tm ,i (i 1 ~ 4)
2.16
Fz , spring ,i K spring H asus sus

,i Ddamper H a ,i mu ,i g (7.2)
K spring C1eC2 ( H i C3 )
H a ,i , for H a ,i mu ,i g / K spring
H a ,i
mu ,i g / K spring , for H a ,i mu ,i g / K spring

7.1
Fa ,tire,i C ,i i
(7.3)
Fb,tire,i C ,i i
4
x 10
6000 1
Fz=4877 N Fz=4877 N
0.8
4000
0.6
Longitudinal tire force (N)
Lateral tire force (N)
0.4
2000
0.2
0 0
Linear Region Linear Region
-0.2
-2000
-0.4
-0.6
-4000
-0.8
-6000 -1
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
Slip ratio Slip angle (rad)
7.1
4877N
74
2.17
C ,i Dx C x Bx Fz ,spring ,i
C ,i D y C y B y
Fz ,spring ,i
Fz ,spring ,1 Fz ,spring , 2 mtot g lr / l f lr / 2
Fz ,spring ,3 Fz ,spring , 4 mtot g l f / l f lr / 2
7.3 C ,i i C ,i i

2.19
1 2 , 3 4
7.3
Fb,tire, f Fb,tire,1 Fb,tire, 2

C , f f
(7.4)
Fb,tire,r Fb,tire,3 Fb ,tire, 4
C ,r r
C , f C ,1 C , 2
C ,r C ,3 C , 4
f 1 2 / 2
r 3 4 / 2
75
K spring Ddamper
mu ri I wheel
7.2
Parameter Observability
[67]
1
2
3
4

7.1
Ax b (7.5)

x x mtot , C , f , C ,r , I x , I y , I z , C ,1 , C , 2 , C ,3 , C , 4 T

A b
A
1 A Full Rank
x A 1b 2Singular
76
ValuesDegree of Observability2
7.2.1
7.5 10
10
7.5 10 12
7.5
[11][30][31][34][35]
7.5 A
a1111 012 013 014

21
a 21 a 22 22 0 23 a 23 24
A (7.6)
0 31 a 32 32 a 33 33 a 34 34

0 41 0 42 0 43 a 44 44 1010
a11 , a 22 , a33 , a 44 a11 , a 22 , a33 , a 44
a11 za Ga , z (7.7)
f sin 1 2 2 0
a
22
1 2 (7.8)
f cos 2 r
2
DegreeofObservabilityConditionNumber
MinimumEigenvalue[76][77]
77
v , x v , yv , z v , yv , z

a v , z v , x
33
v , y v , z v , x (7.9)
v , x v , y
v , xv , y v, z
r11 0 0 0
0 r2 2 0 0
a 44 (7.10)
0 0 r3 3 0

0 0 0 r4 4
7.7
za Ga , z
7.8 a 22
1 2 0
f 0, r 0
7.9 a 23
v , x 0, v , y 0, v , z 0
7.10 a 34
1 0, 2 0, 3 0, 4 0
sizeA 10 10
1 A
2 A
78
7.2.2

7.77.8
a 22
7.9
a 23 7.10
a 34
[11][19]
7.3
7.3.1
7.5
Unconstrained Optimization Problem
Cost Function
79
A1 b1
A
min 2 x b 2 (7.11)

A k b k
A1 , A 2 , , A k b1 , b 2 , , b k t 1, 2,, k
A b
Weighting MatrixScaling
Matrix7.12
QA1W Qb1
QA W
min 2 W 1x Qb 2 (7.12)

QA k W Qb k
Q W
7.12
A
QAW
T

PQ ,k 1 PQ ,k PQ ,k A Q ,k 1 I A Q ,k 1PQ ,k A Q ,k 1
T 1
A Q ,k 1PQ ,k
T

xQ ,k 1 xQ ,k PQ ,k 1A Q ,k 1 Qb k 1 A Q ,k 1xQ ,k (7.13)
A Q ,k 1 QA k 1W
xQ ,k 1 W 1x k 1
80
PQ Covariance Matrix k k 1
t k t k 1
7.3.2
C ,1 , C , 2 , C ,3 , C , 4
1
Q a A a W a W a x a Q ab a (7.14)

x a C ,1 , C , 2 , C ,3 , C , 4 T
A a diag{ r11 , r2 2 , r33 , r4 4 }
I wheel1 Tb ,1 Tm ,1

I wheel 2 Tb , 2 Tm , 2
b
a
I T T
wheel 3 b ,3 m,3
I wheel 4 Tb , 4 Tm , 4
Q a diag{q1a , q2a , q3a }
W a diag{w1a , w2a , w3a }
7.3.3
mtot
1
Qb A b W b W b x b Qbbb (7.15)
81
x b mtot
A b za G a , z

b b K spring H a ,i Ddamper H a ,i mu ,i g
Q b q1b
W b w1b
7.3.4
C , f , C ,r
1
Q c A c W c W c x c Q cb c (7.16)

x c C , f , C ,r T
sin 1 2 2 0
Ac f 1 2
f cos 2 r
m x y
G a , x C ,i i cos i
b c tot
y x
a a v

v Ga , y C ,i i sin i
mtot
a a
Q c diag{q1c , q 2c }
W c diag{w1c , w2c }
7.3.5
I x , I y , I z
1
Qd Ad Wd Wd xd Qd bd (7.17)
82

xd I x , I y , I z T
v , x v , y v , z v , y v , z

A d v , z v , x v , y v , z v , x
v , x v , y v , z
v,x v, y
b d M x , M x , M z
T
Q d diag{q1d , q 2d , q3d }
W d diag{w1d , w2d , w3d }
7.147.17 10
7.4
7.2
C ,1 , C , 2 , C ,3 , C , 4 mtot C , f , C ,r
I x , I y , I z
83
7.2
7.5
MATLAB
90 r 2 deg
r 2 deg 7.3
1
sw 360 sin 2 2 t deg Tm Tb 300 cos2 2 t Nm 2
7.4 7.9
84

7.3
123
i 0, i 0
Steering Maneuvers
360
270 Driver maneuver in case 1
180 Driver maneuver in case 2
90
deg
0 90 deg
-90
-180 -90 deg
-270
-360
0 1 2 3 4 5 6 7 8 9 10
Wheel Torques Applying on Tires

300
200
100
N-m
0
0 N-m
-100
-200
-300
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
7.3
7.5.1
7.3
7.4
85

Longitudinal Displacement xa Longitudinal Velocity x a Rotational Velocity x Wheel Angular Rate 1
200 25 50 80
20
deg/s
rad/s
m/s
m
100 0 60
15
0 10 -50 40
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement ya Rotational Velocity y Wheel Angular Rate 2

Lateral Velocity y a
2 5 20 80
0 10
deg/s
rad/s
m/s
m
0 60
-2 0
-4 -5 -10 40
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement za Rotational Velocity z Wheel Angular Rate 3

Vertical Velocity z a
-0.1 0.1 50 80
-0.11
deg/s
rad/s
m/s
m
0 0 60
-0.12
-0.13 -0.1 -50 40

0 5 10 0 5 10 0 5 10 0 5 10
Road Bank Angle r Road Grade Angle r Wheel Angular Rate 4

Real vehicle dynamics 2.5 0 80
2 -1
rad/s
deg
deg
60
x label: Time (sec) 1.5 -2
1 -3 40
0 5 10 0 5 10 0 5 10
7.4
7.5
1739.91
kg 419.50 kg-m2 2462.95 kg-m 2
3354.30
kg-m 2
7.6
74550.63 N79404.84 N31618.82 N 50426.31 N
40029.38 N/rad 39013.83 N/rad
7.1
86
Total Mass m tot Moment of Inertia I x

1750 600
1745 Mean value: 1739.91 kg 550

1740
kg-m 2
500
kg
1735 2
450
Mean value: 419.50 kg-m
1730
1725 Real vehicle parameters 400

Vehicle parameter identification system
1720 350
0 2 4 6 8 10 0 2 4 6 8 10
Moment of Inertia I y Moment of Inertia I z

2800 4000
3800
2600
Mean value: 3354.30 kg-m2
2
2
3600
kg-m
kg-m
2400
3400
2200
3200
2000 3000
0 2 4 6 8 10 0 2 4 6 8 10
7.5
5 Tracking stiffiness C,1 x 10

4 Cornering stiffiness C ,f
x 10 5
2
1
N
4.5
0 Mean value: 40029.38 N/rad
N/rad
Mean value: 74550.63 N

-1
0 2 4 6 8 10 4
x 10
5 Tracking stiffiness C,2
3 3.5
2 Real vehicle parameters
N
1
0 3
-1
Mean value: 79404.84 0 2 4 6 8 10
0 2 4 N
6 8 10
x 10
5 Tracking stiffiness C,3 4 Cornering stiffiness C ,r
2 x 10
5
1
N
0
4.5
-1 Mean value: 31618.82 N
0 2 4 6 8 10
N/rad
5 Tracking stiffiness C,4 4

x 10
2
1 3.5 Mean value: 39013.83 N/rad
N
0
-1
Mean value: 50426.31 N 3
0 2 4 6 8 10 0 2 4 6 8 10
7.6
87
Longitudinal Displacement xa Longitudinal Velocity xa Rotational Velocity x Wheel Angular Rate 1

200 25 20 80
20 10
deg/s
rad/s
m/s
m 100 60
15 0
0 10 -10 40
0 5 10 0 5 10 0 5 10 0 5 10
Lateral Displacement ya Rotational Velocity y Wheel Angular Rate 2

Lateral Velocity y a
20 10 6 80
4
10
deg/s
5
rad/s
m/s
m
2 60
0 0
0
-10 -5 -2 40
0 5 10 0 5 10 0 5 10 0 5 10
Vertical Displacement za Rotational Velocity z Wheel Angular Rate 3

Vertical Velocity z a
-0.115 0.01 40 80
-0.116 20
deg/s
rad/s
m/s
m
-0.117 0 0 60
-0.118 -20
-0.119 -0.01 -40 40
0 5 10 0 5 10 0 5 10 0 5 10

Road Bank Angle r Road Grade Angle r Wheel Angular Rate 4
2.5 -0.5 80
2 -1
rad/s
deg
deg
x label: Time (sec) 1.5 -1.5 60
1 -2
0.5 -2.5 40
0 5 10 0 5 10 0 5 10
7.7
7.5.2
7.3
7.7
7.8 7.9
7.2.1
7.1
7.8
y z 7.7
7.9
88

7.2 7.8
Total Mass m tot x 10

4 Moment of Inertia I x
1750 4
1745 Mean value: 1739.23 kg 3

1740
kg-m 2
2
kg
1735
1
1730
1725 Real vehicle parameters 0

1720 -1
0 2 4 6 8 10 0 2 4 6 8 10
Moment of Inertia I y x 10
4 Moment of Inertia I z
4000 4
2
3000 Mean value: 9782.52 kg-m
3
2000
2
kg-m 2
2
kg-m
1000
1
0
2 0
-1000 Mean value: 331.30 kg-m
-2000 -1
0 2 4 6 8 10 0 2 4 6 8 10
7.8
5 Tracking stiffiness C ,1 x 10
x 10 5
2
Real vehicle parameters
1
Mean value: -4293.30 N 4 Vehicle parameter identification system
N
0
3
N/rad
-1
0 2 4 6 8 10
2
x 10
5 Tracking stiffiness C ,2
2 Mean value: 26531.17 N/rad
1
1 Mean value: -4528.94 N
N
0 0
0 2 4 6 8 10
-1
0 2 4 6 8 10
x 10
4 Tracking stiffiness C ,3 5 Cornering stiffiness C ,r
15 x 10
5
10
Mean value: -4303.51 N
N
5
4
0
-5
0 2 4 6 8 10 3
N/rad
x 10
4 Tracking stiffiness C ,4
15 2
10
Mean value: 32240.62
Mean value: -4469.18 N
N
5 1
0 N/rad
-5 0
0 2 4 6 8 10 0 2 4 6 8 10
7.9
89

7.1
a b

mtot kg 1740 1739.91 1739.23 0.0052% 0.04%

x
Ix kg-m2 420 419.50 8762.21 0.12% -1.99e5

Iy kg-m2 2594 2462.95 331.30 5.05% 87.23%
y

Iz kg-m2 3214 3354.30 9782.52 4.37% -204.37%
z

C ,1 N 162360 c 74550.63 -4293.30 54.08% 102.64%

C , 2 N 162360 c 79404.84 -4528.94 51.09% 102.79%

C ,3 N 114645 c 31618.82 -4303.51 72.42% 103.75%

C , 4 N 114645 c 50426.31 -4469.18 56.02% 103.90%

C , f N/rad 46856 c 40029.38 26531.17 14.57% 43.38%

C ,r N/rad 41872 c 39013.83 32240.62 6.86% 23.00%

a
5 10
b

/1[69]
c

7.5
7.5.3
7.1
5.1%
7.10 7.11
90
7.10
7.11
91
X
7.10
7.10
vs.
7.11
15%
73%
7.12
5 10 400 N
The error of the longitudinal force

2000
-2000
2000
Front-left tire (Error Mean: 351.15 N)
N
-4000
1000
Front-right tire (Error Mean: 399.94 N)
-6000
Rear-right tire (Error Mean: 327.14 N) 0
-8000 Rear-left tire (Error Mean: 368.92 N) -1000
9 9.2 9.4 9.6 9.8 10
-10000
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
The error of the lateral force
2000
-2000
2000
N
-4000
Front tire (Error Mean: 234.11 N) 1000
Rear tire (Error Mean: 223.51 N)
0
-6000
-1000
9 9.2 9.4 9.6 9.8 10
-8000
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
7.12
92
3
7.2
38 dB 79.43 7.5 7.6
30 dB 31.62
y
7.8
7.9

12
7.2
7.2

dB

a
m/s2 2.359 0.516 0.02 41.43 28.23
2
m/s 2.669 6.624 0.02 42.51 50.40

2
m/s 9.804 9.797 0.02 53.81 53.80
x rad/s 0.292 0.060 0.0014 46.39 32.64

y rad/s 0.115 0.043 0.0014 38.29 29.75

z rad/s 0.538 0.379 0.0014 51.69 48.65
rad/s 59.662 58.792 0.035 64.63 64.51
rad/s 59.708 58.472 0.035 64.64 64.46

rad/s 60.080 59.277 0.035 64.69 64.58
rad/s 60.148 59.452 0.035 64.70 64.60
a
6.1
3
SignaltonoiseRatio,SNR 20log10[78]
93

7.5.4
7.2 0.08 deg/sec

y 38.29 dB
Epson Toyocom XV-8000 4 [79] 0.12
deg/sec
[75]
I new mnew / mold I old mnew r 2 (7.16)
mold mnew I old I new
r
17.16
mnew / mold I old 27.16 mnew r 2
1 4
7.13
7.3
7.1
4
EpsonToyocom XV8000
ElectronicStability
ControlRollover
ProtectionSystem
94
x x
0.4m 0.4m 0.4m n n

1 1.05 m 1 2
0.35 m 0.35 m
y
1.4 m
0.725 m 0.725 m 0.725 m 0.725 m
1.05 m
1 2 1 2
0.35 m 0.35 m
y y
0.35 m 0.35 m
3 1.4 m 3 4
7.13 1 2 3 4
7.3

a I x (A) I y (B) (A)+(C) (B)+(C)
(C)
1 0.076 % 0.010 % 3.45 % 3.53 % 3.46 %
2 0 0.037 % 6.90 % 6.90 % 6.94 %
3 0.071 % 0.009 % 10.34 % 10.41 % 10.35 %
4 0 0 13.79 % 13.79 % 13.79 %
a
60 kg-0.4, 0.35
0.4, 0.35
-0.4, -0.35
0.4, -0.35
7.6
95
7.61
234
55%
6%
96
8.1

mtot za Fz ,spring mtot Ga , z
I x v , x I y I z v , yv , z M x (8.1)
I z v , z I x I y v , xv , y M z
I wheel i ri Fa ,tire ,i Tb ,i Tm,i (i 1 ~ 4)
-
MATLAB ode45.m
97

8.2
8.1
8.1
8.3
MATLAB
sw 360 sin 2 2 t deg
Tm Tb 300 cos2 2 t Nm 90
r 2 deg r 2 deg
98
Steering Maneuvers
400
360 deg
200
Turn on
deg
0
the vehicle dynamic prediction system
-200
-400
8 9 10 11 12 13 14 15

300
200
100 Turn on
N-m
0
0 N-m
-100
-200
-300
8 9 10 11 12 13 14 15
Time (sec)
8.2
Steering Maneuvers
400
360 deg
200
Turn on
deg
0
-200
-400
8 9 10 11 12 13 14 15

1200 Wheel torques on the right two tires
800 1000 N-m

N-m
400
Turn on
Wheel torques on the left two tires
0
0 N-m
-400
8 9 10 11 12 13 14 15
Time (sec)
8.3

10.25
99
8.2 2
8.3 8.4 8.5
8.3.1
10.25 8.2
8.4
10.25
0.51%
8.3.2
10.25
Tm ,3 Tb ,3 Tm , 4 Tb , 4 1000 Nm 8.3
8.5
10.25
27.3%
100
Longitudinal Displacement x a Longitudinal Velocity x a Lateral Displacement y a Lateral Velocity y a

220 12 -1 2
10
-2 0
m/s
m/s
m
m
200 8
-3 -2
6
180 4 -4 -4
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15

Vertical Displacement z a Vertical Velocity z a Vehicle Yaw Angle v Vehicle Yaw Rate v
-0.08 0.2 250 100
200
-0.1
deg/s
150
deg
m/s
m
0 50
100
-0.12
50
-0.14 -0.2 0 0
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15

Vehicle Pitch Angle v Vehicle Pitch Rate v Vehicle Roll Angle v Vehicle Roll Rate v
2 5 15 40
20
1.5 10
deg/s
deg/s
deg
deg
0 0
1 5
-20
0.5 -5 0 -40
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
40 40 40 40
30 30 30
rad/s
rad/s
rad/s
rad/s
30
20 20 20
10 20 10 10
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Time (sec) Time (sec) Time (sec)dynamics
Real vehicle Time
Vehicle dynamic (sec) system
prediction
8.4

200 15 0 2
-2 0
10
m/s
m/s
m
190 -4 -2
5
-6 -4
180 0 -8 -6
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12

3 150 150
0.4 2
100 100
deg/s
deg
m/s
m
0.2 1
50 50
0 0
-0.2 -1 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
2 10 100 600
1 0 400
deg/s
deg/s
deg
deg
50
0 -10 200
-1 -20 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
40 50 60 39
40
35 38
rad/s
rad/s
rad/s
rad/s
30 40
30 37
20
25 10 20 36
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Time (sec) Time (sec) Timevehicle
Real (sec)dynamics Time
prediction
8.5
101
8.1
a b
0.21% 0.0052%
0.0787% 3.18%
0.0149% 58.40%
4.53% 10.72%
0.53%
0.0771%
a
5 10
b
7.1

8.2

0.51% 0.17%
27.30% 7.62%
8.3.3
0.51% 27.3%
123
5.1
vs.
8.6 8.7
8.2
102

220 12 -1 2
10
-2 0
m/s
m/s
m
m
200 8
-3 -2
6
180 4 -4 -4
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
-0.1 0.1 300 80
60
-0.11 200
deg/s
deg
m/s
m
0 40
-0.12 100
20
-0.13 -0.1 0 0
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15

5 10 20
1.4 8
10
deg/s
deg/s
deg
deg
1.2 0 6
0
1 4
0.8 -5 2 -10
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
40 40 40 40
30 30
rad/s
rad/s
rad/s
rad/s
30 30
20 20
10 20 20 10
10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15
Real vehicle Time
prediction
8.6
Longitudinal Displacement x a
200 Longitudinal Velocity x a Lateral Displacement y a Lateral Velocity y a
15 0 5
195
10 0
m/s
m/s
m
190 -5
5 -5
185
0 -10 -10
180 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
10 10.5 11 11.5 12

1 2 200 150
0.5 1 100
deg/s
deg
m/s
m
100
0 0 50
-0.5 -1 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
2 10 100 400
1 0
deg/s
deg/s
deg
deg
50 200
0 -10
-1 -20 0 0
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
40 60 50 40
35 40 40 38
rad/s
rad/s
rad/s
rad/s
30 20 30 36
25 0 20 34
10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12 10 10.5 11 11.5 12
Real vehicle Time
prediction
8.7
103
8.8 8.9 8.8 8.9
X
10.25
10.25

8.6 8.7
8.8
104
8.9
1)

2)

8.4 Carsim
Carsim Mechanical Simulation Corporation
Mechanical Simulation Corporation
Carsim
105

Carsim
8.10 Carsim SIMULINK
Carsim SIMULINK/MATLAB Carsim

8.10
Carsim
106
Vertical load is 5800 N
8.11 Carsim 205/60R14
8.12 Carsim 205/60R14
107

8.4.1

12
Carsim 205/60R14 8.11
8.12 8.11 8.12
5000N 0.85
0.05
4
Carsim
Carsim 5.16b Big Car

8.3 Carsim 5.16b
1000 Hz
5 Hz 1000 Hz
sw 60 cos2 2 t deg Tm Tb 300 sin 2 2 t 150 Nm 8.13
60 r 0 deg r 0 deg
8.14 8.16
10
8.17 Carsim
Big Car
108
Steering Maneuvers
90
60
30
deg
-30
-60
-90
0 2 4 6 8 10 12
Turn on
the vehicle dynamic prediction
Wheel Torques Applying on Tires system
500
400
300
N-m
200
100
0
-100
-200
0 2 4 6 8 10 12
Time (sec)
8.13 Carsim
8.3 Carsim 5.16b Big Car

mtot 1707 kg l f 1.014 m
X
Ix 606.1 kg-m2 1.676 m
lr
Y
Iy 2741.9 kg-m2 t f 0.770 m
Z
2741.9 kg-m2 0.765 m
Iz tr

m u1 , m u 2 50 kg I wheel 0.9 kg-m2

mu 3 , mu 4 40 kg 0.301 m
r
a
78601 N C f 118183 N/rad
C 1 , C 2

C3 , C 4 51403 N C r 85768 N/rad
a
8.11 8.12
ms lr /(l f lr ) mu1, 2 ms l f /(l f lr ) mu 3, 4 m s ms mtot mu ,i

4

i 1
109

8.4.2
8.13 0 10
8.14
8.14
1
2Carsim SIMULINK
Numerical Error
8.15
1706.44 kg
225.45 kg-m22758.30 kg-m2 2541.88 kg-m2 8.16
73513.70 N77583.34
N 70693.63 N 59973.26 N
68971.39 N/rad 69747.30 N/rad 8.15 8.16
x
10
8.13
8.17
6.83
10 12 3.92%
1
110
200 30 1 0.01
150 0.5
25 0
deg
deg
m/s
m 100 0
Sensor output 20 -0.01
50 -0.5
0 15 -1 -0.02
0 5 10 0 5 10 0 5 10 0 5 10
3 0 0.04
0.8
0.6 0.02
2 -0.2
deg
deg
0.4
m/s
m
0
1 0.2 -0.4
0 -0.02
0 -0.2 -0.6 -0.04
0 5 10 0 5 10 0 5 10 0 5 10
0.544 4 4
0.04
0.542 0.02 2 2
deg
deg
m/s
m
0.54 0
0 0
0.538 -0.02
0.536 -0.04 -2 -2
0 5 10 0 5 10 0 5 10 0 5 10
8.14 Carsim

Total Mass m tot Moment of Inertia I x

1710 800
1705 700
1700
Mean value: 1706.44 kg 600
2
kg-m
kg
1695 500
1690 400
1685
Real vehicle parameters 300 Mean value: 225.45 kg-m2
1680 200
0 2 4 6 8 10 0 2 4 6 8 10
Moment of Inertia I y Moment of Inertia I z

4000 4000
3500 3500
2
2
2
2
kg-m 2
Mean value: 2758.30 kg-m Mean value: 2541.88 kg-m

kg-m
3000 3000
2500 2500
2000 2000
0 2 4 6 8 10 0 2 4 6 8 10
8.15 Carsim
111
4
x 10 Tracking stiffiness C,1 x 10
8 12
7
N 10
6
Mean value: 68971.39 N/rad
N/rad
5 8
0 2 4 6 8 10
4
x 10 Tracking stiffiness C,2 6
8 Real vehicle parameters

4
N

6 Mean value: 77583.34 N
0 2 4 6 8 10
0 2 4 6 8 10
4
x 10 Tracking stiffiness C,3 4 Cornering stiffiness C ,r
8 x 10
12
N
6 Mean value: 70693.63 N

10
4
0 2 4 6 8 10
N/rad
8
4
x 10 Tracking stiffiness C,4
6
6
Mean value: 69747.30 N/rad
N

5 4
0 2 4 6 8 10 0 2 4 6 8 10
8.16 Carsim
Longitudinal Displacement x Longitudinal Velocity x Lateral Displacement y Lateral Velocity y

a a a a
300 31 4.5 3
280 30 4
2
m/s
m/s
m
260 29 3.5
1
240 28 3
220 27 2.5 0
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
Vertical Displacement z Vehicle Yaw Angle

a Vertical Velocity z v Vehicle Yaw Rate
a v
0.56 0.06 8 20
6
0.04 0
deg/s
0.55 4
deg
m/s
m
0.02 -20
2
0.54 0 0 -40
-0.02 -2 -60
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
Vehicle Pitch Angle Vehicle Roll Angle

v Vehicle Pitch Rate v Vehicle Roll Rate
v v
5 10 50 200
0
0
deg/s
deg/s
0
deg
deg
-50 0
-5 -10 -100
-10 -20 -150 -200
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
Wheel Angular Rate Wheel Angular Rate Wheel Angular Rate Wheel Angular Rate
1 2 3 4
105 105 105 105
100 100 100 100

rad/s
rad/s
rad/s
rad/s
95 95 95 95
90 90 90 90
9 10 11 12 9 10 11 12 9 10 11 12 9 10 11 12
Time (sec) Time (sec) Time
Real (sec)dynamics
vehicle Time
prediction

8.17 Carsim
112
8.4.3
Carsim Big Car

8.15
8.16 Big Car
y
Big Car 7.1
Carsim
8.17 Big Car
8.2 8.3 8.13
State Value
8.5
0.51% 27.3%
113
0.51%
0.17% 27.30% 7.62%
1
2
Carsim Big Car

1 0.49%
2 3.92%
114
Control Distribution
System Robustness Minimum Control
EffortSliding Mode Control Method
Optimization Problem
Level 1
Level 2

Level 3
9.1 [52]
115
9.1

9.1
Lyapunov Function
9.2
1)
2)

3) i 0
116
4)


(9.1)
I zv M z M
T ri Fa ,tire ,i Tb,i Tm,i (i 1 ~ 4)
M z l f Fy ,tire ,1 Fy ,tire , 2 lr Fy ,tire,3 Fy ,tire, 4

t f Fx ,tire ,1 Fx ,tire , 2 t r Fx ,tire ,3 Fx ,tire , 4
Fx ,tire ,i Fa ,tire ,i cos i Fb ,tire ,i sin i

Fy ,tire ,i Fa ,tire ,i sin i Fb ,tire ,i cos i
2.21 3 4 0
9.1 M
T
Fb,tire,i C ,i i (9.2)
117
C ,i D y C y B y
Fz ,spring ,si
Fz , spring , s1 Fz , spring ,s 2 mtot g lr / l f lr / 2
Fz , spring , s 3 Fz , spring , s 4 mtot g l f / l f lr / 2
Fz , spring , si i
x a , y a x g , y g
x g xa cos v y a sin v
(9.3)
y g xa sin v y a cos v
Fa ,tire,i
Twheel ,i Tm ,i Tb ,i
9.1
Twheel ,i ri Fa ,tire,i (9.4)
9.19.4
Rolling ResistanceAir ResistanceInflation Pressure

[51]-[54]
[80]
9.3
Curve Fitting Method y gref f ( x g )
118
x y
x y
x x g
y y gref
9.3.1
v A0 A B 0 B Fa 0 Fa (9.5)
A0 ( Fb ,tire ,1l f cos 1 Fb ,tire ,1t f sin 1 Fb ,tire , 2lr cos 2 Fb ,tire , 2lr sin 2
Fb 3lr Fb 4lr ) / I z
B 0 B1 , B2 , B3 , B4

l f sin 1 t f cos 1 / I z , l f sin 2 t f cos 2 / I z , t r / I z , t r / I z
B B1 , B2 , B3 , B4
Fa 0 Fa ,tire ,1 , Fa ,tire , 2 , Fa ,tire ,3 , Fa ,tire , 4
T
A0 B0 9.1 Fa 0
A A0 B B 0
Fa Fa 0
1
2
Direct Yaw Moment Control

V
119
1 2 1 2
V s e (9.6)
2 2

s y g y gref v1 y g y gref
e v vref
v1 vref
V Vp1 Vp 2 Vp 3 (9.7)
Vp1 1s 2 2e 2 x g se

Vp 2 xa sin v ya cos v s x g vref s ygref s sv1 y g y gref 1s 2
Vp 3 ev evref 2e 2
1 , 2 1 , 2 Vp1
Negative Semi-definite Vp 2 Vp 3
9.3.2
9.7
vref x g 1 ygref v1 y g y gref 1s s / 1 (9.8)
sup | xa (t ) sin v (t ) ya (t ) cos v (t ) | 1

t0 ,
xa (t ) sin v (t ) ya (t ) cos v (t ) 1 Implicit Boundary Layer
9.89.7 Vp 2
Vp 2 xa sin v ya cos v s s 2 / 1
(9.9)
1 s 2 / 1 for s 1
120
Vp 2 1
9.39.7 Vp 3

Vp 3 e A0 A B 0 B Fa 0 Fa vref 2e
(9.10)
A eB 0Fa 0 e B1 Fa ,tire,1 e B 2 Fa ,tire, 2 e B 3 Fa ,tire,3 e B 4 Fa ,tire, 4
A eA0 e A e B 0 2 F e B F evref 2 e 2
F sup Fa t 2
tt ,
A sup At
tt ,
Bi sup Bi t for i 1 ~ 4
tt ,
B B1 2 B 2 2 B 3 2 B 4 2
9.3.3
Fa ,tire ,1 , Fa ,tire, 2 , Fa ,tire,3 , Fa ,tire, 4
9.10
9.3.3.1
121
1 T
min Fa 0 Q c Fa 0
2
subject to A eB 0Fa 0 e B1 Fa ,tire,1 e B 2 Fa ,tire, 2 e B 3 Fa ,tire,3 (9.11)
e B 4 Fa ,tire, 4 2e 2
Fa ,tire,3 , Fa ,tire, 4 0
Q c diagonalq c1 , q c2 , q c3 , q c4
1
qci Fz ,spring ,i for i 1 ~ 4
9.11
9.11
Vp 3 2 e 2 (9.12)
9.129.10
Q c
122
9.3.3.2
9.11 2

A2 B 0Fa 0 B1 Fa ,tire,1 B 2 Fa ,tire, 2 B 3 Fa ,tire,3 B 4 Fa ,tire, 4 e / 2 2e 0 (9.13)

A2 A0 A B 0 2 F B F e / 2 vref 2e
Vp 3 2e 2 / 2 for e 2 (9.14)
9.119.13
9.129.14
9.3.4
Variable Transformation
Karush-Kuhn-Tucker Condition, KKT Condition
123

9.3.4.1
[81]
Quadratic Optimization Problem
Fa ,tire,n Fa,tire,n Fa,tire,n

(9.15)
Fa ,tire,n Fa,tire,n Fa,tire,n for n 1, 2
Fa ,tire,n , if Fa ,tire,n 0
Fa,tire,n
0, if Fa ,tire,n 0
0, if Fa ,tire,n 0
Fa,tire,n
Fa ,tire,n , if Fa ,tire,n 0
Fa,tire,n , Fa,tire,n 0
(9.15)9.11
min
1 2
2
2
2 2

qc1 Fa ,tire,1 Fa,tire,1 qc 2 Fa,tire, 2 Fa,tire, 2 qc 3 Fa ,tire,3 qc 4 Fa ,tire, 4
2

subject to C DFa 0 (9.16)
Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 0
C A 2e2

D D1 , D1 , D2 , D2 , D3 , D4
[eB1 e B1 , eB1 e B1 , eB2 e B 2 ,
eB2 e B 2 , eB3 e B 3 , eB4 e B 4 ]

Fa Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 T
124

9.13
C DFa 0 C , D
min
1 2
2
2
2
2
qc1 Fa ,tire,1 Fa,tire,1 qc 2 Fa,tire, 2 Fa,tire, 2 qc 3 Fa ,tire,3 qc 4 Fa ,tire, 4
2

subject to C DFa 0
Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 0 (9.17)
C A2 2e
D [ B1 e B1 / 2 , B1 e B1 / 2 , B2 e B 2 / 2 ,
B2 e B 2 / 2 , B3 e B 3 / 2 , B4 e B 4 / 2 ]
9.3.4.2

Local Minimizer[82]
Convex Optimization
Global Minimizer
min f(x)
subject to h(x) 0 (9.18)
g(x) 0
x n f n 1 h n m , m n g n p x*
125
k 0
T T
f(x* ) k h(x* ) k g(x* ) 0T
T
k g(x* ) 0 (9.19)
h(x* ) 0
g(x* ) 0
k KKT KKT Multiplier Vectors k
Lagrange Multiplier Vectors9.19
KKT ki KKT
Active g(x* ) 0
KKT Inactive
g(x* ) 0
9.16

qc1 Fa,tire,1 Fa,tire,1 k1 D1 k1 0
2
qc1
2
F
a ,tire ,1 Fa,tire,1
k1 D1 k2 0
qc 2
2
F
a ,tire , 2 Fa,tire, 2
k1 D2 k3 0
qc 2
2
F
a ,tire , 2 Fa,tire, 2
k1 D2 k4 0
qc 3 Fa ,tire,3 k1 D3 k5 0
2
(9.20)
qc 4 Fa ,tire, 4 k1D4 k6 0
2
k1 Fa,tire,1 k2 Fa,tire,1 k3 Fa,tire, 2 k4 Fa,tire, 2 k5 Fa ,tire,3 k6 Fa ,tire, 4 0

C DFa 0
Fa,tire,1 , Fa,tire,1 , Fa,tire, 2 , Fa,tire, 2 , Fa ,tire,3 , Fa ,tire, 4 0
k1 k1~ 6 9.16 KKT
9.20 ki 0 ki 0 i 1 ~ 6
64
26 64
2 19.15 Fa1 Fa1 2
126
Case I : k1 0, k2 0, k3 0, k4 0, k5 0, k6 0
Fa,tire,1 k1D1 / qc1
2
k2 k1 D1 D1
Fa,tire,1 0 k3 k1 D2 D2
Fa,tire, 2 0 k6 k1D4
(9.21)
Fa,tire, 2 k1 D2 / qc 2
2
Fa ,tire,3 k1 D3 / qc 3
2
Fa ,tire, 4 0
2 2
k1 C / D1 / qc12 D2 / qc 2 2 D3 2 / qc 3 2
Case II : k1 0, k2 0, k3 0, k4 0, k5 0, k6 0
Fa,tire,1 0 k1 k1 D1 D1
Fa,tire,1 k1 D1 / qc1
2
k4 k1 D2 D2
Fa,tire, 2 k1D2 / qc 2 k5 k1D3
2
Fa,tire, 2 0
Fa ,tire,3 0
Fa ,tire, 4 k1D4 / qc 4
2
2 2
k1 C / D1 / qc12 D2 / qc 2 2 D4 2 / qc 4 2
Case I
Case II
9.3.5
9.4
Fa ,tire,i Twheel ,i
Uncertainty
1
127
2 Fa
s 1
e 2
9.7
9.4
9.4.1
9.3
xg , x g y g , y g
v , v Fz ,spring ,1~ 4 r , r
mtot z I z
9.4.2
Double Lane Change

3
r 0, r 0 9.2 100
y gref x g
3 3
(9.22)
1 exp[0.08( xg 145)] 1 exp[0.08( xg 385)]
128
90 =25 m/s
1 2 0
y gref xg
3 3

1 exp[0.08( xg 145)] 1 exp[0.08( xg 385)]
3m
cone
y
x
global frame {g}
0m 100 m 200 m 300 m 400 m 500 m
9.2
9.4.3
1
2Carsim E-class Sedan Model in Carsim 7.1
9.1
90 =25 m/s 9.3

9.1 Carsim
Carsim model
9.3
Carsim
129
200
Steering Wheel
Angle (deg)
100
-100
-200
0 2 4 6 8 10 12 14 16 18 20
Longitudinal Velocity
30 30
3-DOF model 3-DOF model
25 25
Carsim model Full-state vehicle model
(m/sec)
20 20
15 15
10 10
5 5
0 5 10 15 20 0 5 10 15 20
2 2
Lateral Velocity
1 0
(m/sec)
-2
0
-4
-1 -6
-2 -8
0 5 10 15 20 0 5 10 15 20
80 80
60 60
Yaw Rate
(deg/sec)
40 40
20 20
0 0
-20 -20
-40 -40
-60 -60
0 5 10 15 20 0 5 10 15 20
9.3 Carsim

Carsim
Carsim
Carsim
130
100 Hz
9.2
9.4 9.14 9.16
9.17 9.4 9.9 9.13 9.16
9.1
Carsim Carsim

mtot 1740 kg 2013 kg l f 1.05 m 1.402 m
X
Ix 420 kg-m2 614 kg-m2 1.4 m 1.646 m
lr
Y
Iy 2594 kg-m2 2765 kg-m2 t f 0.725 m 0.8 m
Z
3124 kg-m2 2765 kg-m2 0.725 m 0.801 m
Iz tr

I wheel 2.03 kg-m2 0.9 kg-m2 0.3 m 0.364 m
r
9.2
1 0.1 1 1 1 7.5
2 0.1 2 0.01 2 22
A 0.05 B1~ 4 1e-6 F 100
v1 1 3
131
9.4.4 I
9.16
9.4
90 =25 m/s
86 =23.9 m/s 0.0318
9.5
a) Trajectory Following
Lateral Position y (m)
3.5
3 Reference trajectroy
g
2.5 Vehicle trajectory

2
1.5
1
0.5
0
-0.5
0 50 100 150 200 250 300 350 400 450 500
Longitudinal Position x (m)
g
b) Vehicle Yaw Rate

6
1.5
4 1
deg/sec
2 0.5
3.8 3.9 4 4.1 4.2 4.3 4.4
0
-2 Reference yaw rate
Vehicle yaw rate
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
c) Longitudinal Velocity
25
24.5
m/sec
24
23.5
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.4 ab
c
25 23.9
132
Torque acting on the front-left tire Torque acting on the front-right tire
200 200
150
100
100
Torque (Nm)
Torque (Nm)
50
0
0
-50
-100
-100
-150 -200
0 5 10 15 20 0 5 10 15 20
Torque acting on the rear-left tire Torque acting on the rear-right tire
20 20
0 0
Torque (Nm)
Torque (Nm)
-20 -20
-40 -40
-60 -60
-80 -80
-100 -100
0 5 10 15 20 0 5 10 15 20
9.5

Low-pass
Filter
9.6 25 Hz
5 Hz 5 Hz
100 Hz 5 Hz
0.2696 z 1
GLPF z (9.23)
1 0.7304 z 1
Frequency Response Before Filtering

3
Torque acting on the front-left tire
Torque acting on the front-right tire
Torque acting on the rear-right tire
Magnitude
2
Torque acting on the rear-left tire
0
0 5 10 15 20 25 30 35 40 45 50
Frequency (Hz)
9.6 25 Hz
133
200 200
100 100
Torque (Nm)
Torque (Nm)
0 0
-100 -100
-200 -200
0 5 10 15 20 0 5 10 15 20
20 20
0 0
Torque (Nm)
Torque (Nm)
-20 -20
-40 -40
-60 -60
-80 -80
0 5 10 15 20 0 5 10 15 20
9.7
Frequency Response After Filtering

2
Torque acting on the front-left tire
Torque acting on the front-right tire
1.5
Torque acting on the rear-right tire
Magnitude
Torque acting on the rear-left tire

1
0.5
0
0 5 10 15 20 25 30 35 40 45 50
Frequency (Hz)
9.8 12.5 Hz
9.7
9.8 12.5 Hz
134

9.179.16 9.9
90 =25 m/s 88.6

=24.6 m/s
9.10 0.0323
9.11
9.2 9.10
Lateral Position y (m)
3.5
g

2
1.5
1
0.5
0
-0.5
0 50 100 150 200 250 300 350 400 450 500
Longitudinal Position x (m)
g
b) Vehicle Yaw Rate
6
1.5
4
1
deg/sec
2 0.5
3.8 3.9 4 4.1 4.2 4.3 4.4
0
Vehicle yaw rate
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
25
24.9
m/sec
24.8
24.7
24.6
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.9 a
bc
25 24.6
135
200 200
100 100
Torque (Nm)
Torque (Nm)
0 0
-100 -100
-200 -200
0 5 10 15 20 0 5 10 15 20
20 20
0 0
Torque (Nm)
Torque (Nm)
-20 -20
-40 -40
-60 -60
-80 -80
0 5 10 15 20 0 5 10 15 20
9.10
System Uncertainties in Lateral Motion

4
3
m/s2
2
Design Parameter
1
0
0 2 4 6 8 10 12 14 16 18 20
System Uncertainties | A|
0.1
Design Parameter
A
rad/s2
0.05
0
0 2 4 6 8 10 12 14 16 18 20
-6
System Uncertainties | Bi|
x 10
2
1.5 Design Parameter

= = =
rad/N/s2
B1 B2 B3 B4
1
| B | | B |
2 1
0.5
| B | | B |
4 3
0
0 2 4 6 8 10 12 14 16 18 20
Tire Force Disturbaces ||Fa|| 2

120
100
80
Design Parameter
N
60 F
40
20
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.11

136

9.4.5 IICarsim
9.12 Carsim
SIMULINK/MATLAB
9.17
Carsim
Referenc e lateral pos ition ( m)
X infor mation Referenc e lateral velocity (m/sec)
Refer enc e later al acceleration (m/sec^2)

mu Referenc e Y aw Rate (rad/ sec) X infor mation
Reference Trajectory
Memory
Vy_gl obal (m/sec) Y infor mation
CarSim S-Function
Vehicle Code: i_i Vx_gl obal (m/sec) Ref Y information
Sliding mode control method
Vx_gl obal (m/sec)

Vy_gl obal (m/sec)
Refer enc e Yaw Rate (rad/ sec)
Tire Forc es Tire forces (N) W heel tor ques (Nm)
Real Yaw Information
Double Lane Change
Steer angl e (deg)
0.00 Vertical Loads (N)
Clock Wheel torque calculation
Time (sec) Control distribution
9.12 Carsim
9.13
90 =25 m/s 55 =15.3 m/s

Carsim 9.3
1 1.56, 2 100
0.019 9.14
137
Lateral Position yg (m)

3.5
2
1.5
1
0.5
0
-0.5
0 50 100 150 200 250 300 350 400 450 500
Longitudinal Position x g (m)
b) Vehicle Yaw Rate
4
2
deg/sec

Vehicle yaw rate
-4
0 5 10 15 20 25
Time (sec)
25
m/sec
20
15
0 5 10 15 20 25
Time (sec)
9.13 a Carsim
bc
25 15.3
400 400
200 200
Torque (Nm)
Torque (Nm)
0 0
-200 -200
-400 -400
0 5 10 15 20 25 0 5 10 15 20 25
50 50
0 0
Torque (Nm)
Torque (Nm)
-50
-50
-100
-100
-150
-200 -150
-250 -200
0 5 10 15 20 25 0 5 10 15 20 25
9.14 Carsim

138
9.4.6
1 9.15
1
9.17
9.4.4
y gref xg
3 3

1 exp[0.08( xg 145)] 1 exp[0.08( xg 385)]
y g y gref 3m
yg y ref
g
y
x 1
global frame {g}
9.15
9.16
90 =25 m/s 88.9 =24.7 m/s

9.17 9.16
0.2997
0.1307
9.17
139
Lateral Position yg (m)

3.5
2
1.5
1
0.5
0 max error: 0.2997 m
-0.5
0 50 100 150 200 250 300 350 400 450 500
Longitudinal Position x g (m)
b) Vehicle Yaw Rate
4
2
deg/sec

Vehicle yaw rate
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
25
24.9
m/sec
24.8
24.7
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.16 a
bc 25
24.7
100 100
Torque (Nm)
Torque (Nm)
50 50
0 0
-50 -50
0 5 10 15 20 0 5 10 15 20
5 5
0 0
Torque (Nm)
Torque (Nm)
-5 -5
-10 -10
-15 -15
-20 -20
-25 -25
0 5 10 15 20 0 5 10 15 20
9.17
140

9.5
9.5.1
9.16
9.5 9.16
e
M 2 2 e NFa 0 (9.24)

M A0 A B0 2 F B F signe vref
N [ B1 B1signe, B1 B1signe, B2 B 2signe,
B2 B 2signe, B3 B 3signe, B4 B 4signe]
sign
M N
N B1~ 4 M
A0 0, vref 0 A , B , F
Fa
A , B , F B1~ 4
141
e 2 2 2 2 M N
A , B , F B1~ 4
x 10
4 Longitudinal tire force vs. Slip ratio vs. Vertical loads
1.5
Fz = 10100 N
1
Fz = 7900 N
Fz = 6120 N
0.5 Fz = 3995 N
Longitudinal force (N)
Fz = 2105 N
-0.5
-1
-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Slip ratio
9.18 Carsim
9.5.2
9.10 5.1 16.3

6.2
15.2
9.11 9.18
142
Carsim
9.4
9.5.3
[52][55][56]
First Guess
9.21
9.69.8
9.169.179.21
150 5Digital
Signal Processor 20 ns
10 s 10 ms
9.21
9.17 Fa1~ 4 C DFa 0
9.21 Case II 5.1 Fa 3
Fa 4
Fa1 Fa 2 -5000 N 5000 N-5000 N
5
TM320CF28xx [83] 32
60MHz 16.67ns
143
5000 N 9.19
0.006
0.00564
9.21
6
Cost Function
0
5000
4000
Fro
nt-R 30002000 4000
5000
ight 1000 3000
long 0 2000 (N )
itud -1000 1000 forc e
inal
tire -2000 -1000
0 in al tire
forc -3000 -2000 ngitud
e (N -4000 -4000
-3000
ro n t-L lo
eft
) -5000 -5000 F
Cost Function
5000 6
4 Analytical Solution: [-265.8762, 373.7029, 0, -190.7] T
5.5
4000 Cost Function: 0.00564189
3
Front-Right longitudinal tire force (N)
5
3000 2
4.5
2000
0.006 4
1000 1 3.5
0 3
0.01
-1000 0.05 1 2.5
0.1 2
-2000
1.5
-3000 2
3 1
1 4
-4000 0.5
5
6
-5000
-5000 -4000 -3000 -2000 -1000 0 1000 2000 3000 4000 5000
Front-Left longitudinal tire force (N)
9.19
144
9.5.4
9.4.4
9.9 9.109.4.6
9.16
9.17
9.20 i 1 Twheel ,i
4
a) Vehicle Yaw Rate

6
Control strategy using current vehicle information
4
Control strategy using future vehicle information
deg/sec
2
0
-2
-4
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
b) Vehicle Velocity
25
24.9
m/sec
24.8
24.7
24.6
24.5
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
c) Total Tire Torque
100
0
Nm
-100
-200
-300
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
9.20 a
bc
145
9.20
0.5
3.72 deg/sec 52.42% 1.77 deg/sec

24.6 m/s 0.41% 24.7 m/s
9.20
66020 N 105355
N 37.34%[5]
0.2997
0.1307
9.6

1
2

Carsim 90
146

0.032
0.5 52.42%
37.34%
0.2997 0.1307
147
10.1
1
2
0.21% 4.3%
0.51% 27.3%
148
0.5 3.59
0.3
0.11 0.15
1
23
4
55% 6%
149
1
2
1
2
90
Carsim
0.032
150

0.5
52.42% 37.34%
0.2997 0.1307
10.2

Pacejka
[57][58]Dugoff [84][85]

151
152
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prodoverview.tsp?sectionId=95&tabId=1531&familyId=916
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817-822.
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influence on vehicle dynamic performance, SAE Paper 700377, Feb. 1970.
158
[42]
Mean Square Error
Extended
Kalman Filter
x k 1 f x k w k
(A.1)
y k hx k v k
x k t k x k 1 t k 1 y k
t k f h
w k v k
Covariance Matrix

E wk w j Qk
T
(A.2)
Ev v R
T
k j k
f x
Ak
x x x
k
(A.3)
h x
Hk
x x x
k
159
x k f x k 1
(A.4)
x k x k L k y k y k
T
Pk A k Pk A k Q k
T

L k Pk H k H k Pk H k R k
T

1
Pk 1 I L k H k Pk
x k y k x k y k Pk
L k
A.1
[65][66]Fading
Memory Technique k Fading Factor
Pk k A k Pk A k Q k
T
(A.5)
[42]
k max1, trace(N k ) / trace(M k ) (A.6)

T T
N k H k A k 1Pk 1A k 1 H k

M k H k Pk1 Q k 1 H k T
A.2

A.4
160
Tg
Ta Tg Ta kTg
(k 1)Tg kTg
x k x k f x k 1 (A.7)
T
Pk 1 Pk A k Pk A k Q k
(k 1)Tg kTg
A.4A.7
[42][73]
161

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VehicleDynamicsEstimationandPredictionSystems

Sensor Fusion System

0.3 0.11 0.15

Vehicle Dynamics Estimation and

Student: Ling-Yuan Hsu Advisor: Dr. Tsung-Lin Chen

Department of Mechanical Engineering

In order to verify the feasibility of the proposed method by simulations, a full-state

8.4.2 .................................................................................................... 110

8.17 Carsim .............................112

Sport Utility Vehicle, SUV

Sensor Fusion Technology

Single Track Model [14]-[17] [18]

Inertial Measurement Unit, IMU

1988Suzuki Samurai : 3 deg

Direct Yaw Moment Control

Lagrange MultiplierAnalytical Solution

20 Full-state Vehicle Model

Sprung Mass System Unsprung Mass

Cgv C rv Cgr (2.1)

Ga , x g sin r cos v cos r sin r sin v

(a) (b) (c)

Newtons Second Law

mtot xa y a v Fx ,tire mtot Ga , x

Fx ,tire , Fy ,tire , Fz , spring

Fv , x Fx ,tire cos v Fz , spring sin v

1b 1c sin v 1c cos v sin v 1c cos v cos v

1c l f sin v t f cos v sin v h cos v cos v / 2 Z z a

2b 2 c sin v 2 c cos v sin v 2 c cos v cos v

2 c l f sin v t f cos v sin v h cos v cos v / 2 Z za

3b 3c sin v 3c cos v sin v 3c cos v cos v

3c lr sin v t r cos v sin v h cos v cos v / 2 Z za

4b 4 c sin v 4 c cos v sin v 4 c cos v cos v

4 c lr sin v tr cos v sin v h cos v cos v / 2 Z z a

K spring C1eC2 ( H i C3 ) (2.14)

H a ,1 za l f sin v t f cos v sin v (2.15)

H a , 2 za l f sin v t f cos v sin v

H a ,3 za lr sin v t r cos v sin v

H a , 4 za lr sin v t r cos v sin v

Fz , spring ,i K spring H a ,i Ddamper H a ,i mu ,i g (2.16)

1993 Pacejka Bakker

Fa ,tire Fb ,tire Slip Ratio

I wheel i ri Fa ,tire ,i Tb ,i Tm ,i (2.20)

Fx ,tire ,i Fa ,tire,i cos i Fb ,tire ,i sin i

Switching Computation Scheme

Switching Observer Scheme

1One-sided Lipschitz condition[61]2Lipschitz condition[62]3

one-sided Lipschitz Lipschtiz 3.9 one-sided

K 3 K 4 Lipschitz one-sided Lipschtiz

K 5 K 6 one-sided Lipschitz 3.12

x1,n 1 x1,n f1 x1,n , x2,n 1,n

e1,n 1 e1,n M 1 1,n O 2

I A1, x1,n A1, x 2,n

Vehicle Roll Model xa , x a , ya , y a , v , v , 1 ,

v vv sec v vv tan v v , y sin v sec v v , z cos v sec v (4.2a)

v v sin v vv cos v v , x (4.2b)

v vv cos v v , y cos v v , z sin v

H a , 2 za l cos t sin sin cos cos

H a ,3 za l cos t sin sin cos cos

H a , 4 za l cos t sin sin cos cos

xa y a v Ga , x sin v sin v ya xa v Ga , y cos v za Ga , z sin v cos v

cos r cos v ... sin r sin v ...

[42]Iterative Extended Kalman Filter

0.41 deg 0.45 deg