Adaptive Observers and Estimation of the Road Profile

SAE Transactions 2003International audienceno abstrac

Sliding Mode Observers for Systems with Unknown Inputs: Application to estimate the Road Profile

International audienceIn this paper, a sliding-mode observer for systems with unknown inputs is presented. The system considered is a vehicle model with unknown inputs that represent the road profile variations. Coefficients of road adhesion are considered as unknown parameters. The tyre-road friction depends essentially on these parameters. The developed observer permits these longitudinal forces acting on the wheels to be estimated. Then another observer is developed to estimate the unknown inputs. In the first part of this work, some results are presented which are related to the validation of a full-car modelization, by means of comparisons between simulation results and experimental measurements (from a Peugeot 406 as a test car)

Sliding Mode Observers for Systems with Unknown Inputs: Application to estimate the Road Profile

International audienceno abstrac

Détection de ruptures et application à la caractérisation de signaux de Chaussée

Détecter les ruptures d'un signal information revient à effectuer un test d'hypothèse basé sur un rapport de vraisemblance et/ou un intervalle de confiance. Nous appliquons les méthodes GLR, X2 et Fisher à la variance du signal de chaussée non stationnaire, supposé aléatoire et filtré par le modèle du véhicule, et à celle de l'innovation après estimation paramétrique. Ceci permet une analyse des caractéristiques de la chaussée et des conséquences sur le confort du véhicule

Road profile inputs for evaluation of the loads on the wheels

International audienceno abstrac

Adaptive Observers and Estimation of the Road Profile

SAE Transactions 2003International audienceno abstrac

Vehicle-road interaction modelling for estimation of contact forces

International audienceno abstrac

Vehicle-road interaction modelling for estimation of contact forces

International audienceThe main objective of this paper deals with appropriate modelling (of a vehicle and the tyre-road contact) for online estimation of contact forces. This model will be helpful for trajectory monitoring, for steering control and also for diagnosis to avoid accidents or detection of oversteering or understeering situations. A robust observer is developed for adaptive estimation of the contact forces

Adaptive Observers and Estimation of the Road Profile

ABSTRACT In this paper, we present an adaptive observer to estimate the unknown parameters of a vehicle. The system unknown inputs, representing the road profile variations, are estimated using sliding mode observers. First, we present some results related to the validation of a full car modelization, by means of comparisons between simulations results and experimental measurements (coming from a Peugeot 406 as a test car). Because, we don't know exactly pneumatic parameters and because these parameters can be changed, an other sliding mode observer is developed to estimate the longitudinal forces (which depend on these parameters) acting on the wheels. The estimated Road Profile is compared to the measured one coming from the LPA (longitudinal profile analyser ) in order to test the robustness of our approach

Observers With Unknown Inputs to Estimate Contact Forces and Road Profile

International audienceThis paper presents sliding mode observers designed to estimate tire forces and road profile. Tire forces affect the vehicle dynamic performance and behavior properties. The tire forces and road friction are difficult to measure and their modelling is rather complex. In this work we deal with a simple model of vehicle combined with sliding mode approach to develop robust observers