Skip to main content
main-content
Top

Hint

Swipe to navigate through the chapters of this book

2020 | OriginalPaper | Chapter

Nonlinear Modeling of Truck-Semitrailer Lateral Dynamics Including Experimental Validation of Lateral Tire Forces

Authors: Zygimantas Ziaukas, Jan-Philipp Kobler, Alexander Busch, Mark Wielitzka, Tobias Ortmaier

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

share
SHARE

Abstract

Advanced Driver Assistance Systems for commercial vehicles are mainly implemented in the truck and in most cases only consider measurements or estimates about the truck’s states. However, the trailer accounts for up to 80% of the total vehicle mass and therefore significantly influences the vehicle’s dynamics. For analysis of the trailer’s dynamic behavior and for potential implementation in model-based observer or control design, in this paper a nonlinear single track model of lateral dynamics of a typical truck-semitrailer combination is developed. The model thoroughly considers the lateral tire forces which, in contrast to most other publications, are validated on measurements from a real test vehicle. The results show an adequate simulation of the measured vehicle’s states. The implementation of the model on an automotive rapid prototyping ECU shows it’s online capability.
Literature
1.
go back to reference Li, Y., Zou, S., Lei, L., Yang, X., Wu, X.: Analysis of impact factors of tire wear. J. Vib. Control 18(6), 833–840 (2012) CrossRef Li, Y., Zou, S., Lei, L., Yang, X., Wu, X.: Analysis of impact factors of tire wear. J. Vib. Control 18(6), 833–840 (2012) CrossRef
2.
go back to reference Bakker, E., Nyborg, N., Pacejka, H.B.: Tyre modelling for use in vehicle dynamics studies. SAE Trans. 96, 190–204 (1978) Bakker, E., Nyborg, N., Pacejka, H.B.: Tyre modelling for use in vehicle dynamics studies. SAE Trans. 96, 190–204 (1978)
3.
go back to reference van Zanten, A., Erhardt, R., Lutz, A.: Measurement and simulation of transients in longitudinal and lateral tire forces. SAE Trans. 99, 300–318 (1990). Section 6: Journal of Passenger van Zanten, A., Erhardt, R., Lutz, A.: Measurement and simulation of transients in longitudinal and lateral tire forces. SAE Trans. 99, 300–318 (1990). Section 6: Journal of Passenger
4.
go back to reference Baffet, G., Charara, A., Stephant, J.: Sideslip angle, lateral tire force and road friction estimation in simulations and experiments. In: Proceedings of the 2006 IEEE International Conference on Control Applications, Munich, Germany (2006) Baffet, G., Charara, A., Stephant, J.: Sideslip angle, lateral tire force and road friction estimation in simulations and experiments. In: Proceedings of the 2006 IEEE International Conference on Control Applications, Munich, Germany (2006)
5.
go back to reference Dakhlallah, J., Glaser, S., Mammar, S., Sebsadji, Y.: Tire-road forces estimation using extended Kalman filter and sideslip angle evaluation. In: Proceedings of the 2008 American Control Conference, Seattle, Washington, USA (2008) Dakhlallah, J., Glaser, S., Mammar, S., Sebsadji, Y.: Tire-road forces estimation using extended Kalman filter and sideslip angle evaluation. In: Proceedings of the 2008 American Control Conference, Seattle, Washington, USA (2008)
6.
go back to reference Baffet, G., Charara, A., Lechner, D., Thomas, D.: Experimental evaluation of observers for tire-road forces, sideslip angle and wheel cornering stiffness. Veh. Syst. Dyn. 46(6), 501–520 (2008) CrossRef Baffet, G., Charara, A., Lechner, D., Thomas, D.: Experimental evaluation of observers for tire-road forces, sideslip angle and wheel cornering stiffness. Veh. Syst. Dyn. 46(6), 501–520 (2008) CrossRef
7.
go back to reference Doumiati, M., Victorina, A., Charara, A., Lechner, D.: Onboard real-time estimation of vehicle lateral tire-road forces and sideslip angle. IEEE/ASME Trans. Mechatron. 16(4), 601–614 (2011) CrossRef Doumiati, M., Victorina, A., Charara, A., Lechner, D.: Onboard real-time estimation of vehicle lateral tire-road forces and sideslip angle. IEEE/ASME Trans. Mechatron. 16(4), 601–614 (2011) CrossRef
8.
go back to reference Vagstedt, N.-G., Dahlberg, E.: Determination of lateral axle data of heavy vehicle combinations. In: SAE International Truck and Bus Meeting and Exposition, Ceveland, Ohio, USA (1997) Vagstedt, N.-G., Dahlberg, E.: Determination of lateral axle data of heavy vehicle combinations. In: SAE International Truck and Bus Meeting and Exposition, Ceveland, Ohio, USA (1997)
9.
go back to reference Lindgärde, O., Gäfvert, M.: A 9-DOF tractor-semitrailer dynamic handling model for advanced chassis control studies. Veh. Syst. Dyn. 41(1), 51–82 (2004) CrossRef Lindgärde, O., Gäfvert, M.: A 9-DOF tractor-semitrailer dynamic handling model for advanced chassis control studies. Veh. Syst. Dyn. 41(1), 51–82 (2004) CrossRef
10.
11.
go back to reference Wielitzka, M., Dagen, M., Ortmaier, T.: Nonlinear modeling and parameter identification of vehicle’s lateral dynamics. In: 12th International Symposium on Advanced Vehicle Control, Tokyo, Japan (2014) Wielitzka, M., Dagen, M., Ortmaier, T.: Nonlinear modeling and parameter identification of vehicle’s lateral dynamics. In: 12th International Symposium on Advanced Vehicle Control, Tokyo, Japan (2014)
12.
go back to reference Kennedy, J.: Particle swarm optimization. In: Encyclopedia of Machine Learning, pp. 760–766, Springer, Boston (2011) Kennedy, J.: Particle swarm optimization. In: Encyclopedia of Machine Learning, pp. 760–766, Springer, Boston (2011)
13.
go back to reference Nocedal, J., Wright, S.: Numerical Optimization. Springer, New York (2006) MATH Nocedal, J., Wright, S.: Numerical Optimization. Springer, New York (2006) MATH
Metadata
Title
Nonlinear Modeling of Truck-Semitrailer Lateral Dynamics Including Experimental Validation of Lateral Tire Forces
Authors
Zygimantas Ziaukas
Jan-Philipp Kobler
Alexander Busch
Mark Wielitzka
Tobias Ortmaier
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_213

Premium Partner