Driving Envelope: On Vehicle Stability Through Tire Capacities

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359441" target="_blank" >RIV/68407700:21230/22:00359441 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/IV51971.2022.9827423" target="_blank" >https://doi.org/10.1109/IV51971.2022.9827423</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IV51971.2022.9827423" target="_blank" >10.1109/IV51971.2022.9827423</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Driving Envelope: On Vehicle Stability Through Tire Capacities

Popis výsledku v původním jazyce

Integrated automated safety systems in vehicles significantly reduced the number of car crashes. They help the driver in critical maneuvers when tires lose their grip on the driving surface. For instance, the technology of the anti-lock braking system and its augmentations (electronic stability control and traction control system) has already saved thousands of lives. Nevertheless, we still see room for improvement. This work defines boundaries in the vehicle state-space, excluding unstable vehicle maneuvers. Such boundaries form a so-called driving envelope. The resulting set includes all states where the vehicle’s wheels are not locked, overspun, or skidding. For the definition of the driving envelope, we use the Pacejka tire model and nonlinear single-track model. This paper shows how each tire dynamic property results in vehicle dynamics. Also, it discusses the application of nonlinear and linearized driving envelope boundaries on a single-track model. Then it shows that the linearized driving envelope constraints form a close to control invariant set over the vehicle state-space. Thus, the driving envelope is almost a feasible set, and it could be used in the model predictive control approaches with soft constraints. Protecting the driving envelope, one can preserve each wheel from locking, wheelspin, and skidding.

Název v anglickém jazyce

Driving Envelope: On Vehicle Stability Through Tire Capacities

Popis výsledku anglicky

Integrated automated safety systems in vehicles significantly reduced the number of car crashes. They help the driver in critical maneuvers when tires lose their grip on the driving surface. For instance, the technology of the anti-lock braking system and its augmentations (electronic stability control and traction control system) has already saved thousands of lives. Nevertheless, we still see room for improvement. This work defines boundaries in the vehicle state-space, excluding unstable vehicle maneuvers. Such boundaries form a so-called driving envelope. The resulting set includes all states where the vehicle’s wheels are not locked, overspun, or skidding. For the definition of the driving envelope, we use the Pacejka tire model and nonlinear single-track model. This paper shows how each tire dynamic property results in vehicle dynamics. Also, it discusses the application of nonlinear and linearized driving envelope boundaries on a single-track model. Then it shows that the linearized driving envelope constraints form a close to control invariant set over the vehicle state-space. Thus, the driving envelope is almost a feasible set, and it could be used in the model predictive control approaches with soft constraints. Protecting the driving envelope, one can preserve each wheel from locking, wheelspin, and skidding.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/8X20037" target="_blank" >8X20037: Návrh nelineárních řídících systémů s plnou kontrolou nad dynamikou vozu</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 2022 IEEE Intelligent Vehicles Symposium (IV)

ISBN

978-1-6654-8821-1

ISSN

—

e-ISSN

1931-0587

Počet stran výsledku

6

Strana od-do

1188-1193

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Aachen

Datum konání akce

4. 6. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000854106700167