【正文】 rzF18 Estimation Results Vehicle equipped with VSC controller *Evaluated performance using the mercial software CARSIM 0 1 2 3 4 5 6 7 8 9 108642024681012Tim e [S]Slip angle [?] Slip Ang le Estim ator Pe rform anc e A c t u a lE s t i m a t e d W i t h o u t F e e d b a c kE s t i m a t e d W i t h F e e d b a c kImproved Performance Specially In The Nonlinear Region Of Handling Dynamic Tire Slipangle Estimation Algorithm Validation Results i n t e l l i g e n t t i r e2^ ^ ^ ^ ^11()f r o n t r e a rf y y f fx z x x z xa a bF F r km v I v m v I v??? ? ? ?? ? ? ? ? ? ? ? ? ? ? ? ? ???? ? ? ?? ? ? ????Feedback Term Intelligent Tire Path1 ? Path2? Path3? Path4 Low Frequency Vehicle CAN bus Vehicle State Estimator High Frequency High Frequency 19 Dynamic Tire Slipratio Estimation Algorithm Path1 ? Path2? Path3? Path4 ABS Module High Frequency Vibrations Appear In The Acceleration Data In The Radial Direction Of The Tire. Slipratio estimator Slip state in the contact patch ? ABS slipratio estimator –During a hard braking event significant error in our estimates of slipratio. ? Get a measure of the slip state of the tire by identifying high frequency vibrations in the acceleration dataFeedback for our slipratio estimator. Combination of slipratio + tire slip state estimator ?20 Dynamic Tire Force Estimation Intelligent Tire Vehicle CAN Bus Vehicle amp。?Information from an intelligent tire Kalman Filter (Observer) Roll angle Roll rate ya xaDynamic Tire Load Estimation Algorithm 39。 Estimate Additional Vehicle States Required For Developing Integrated Chassis Control Algorithms Vehicle CAN bus Vehicle Equipped With Intelligent Tires Algorithm For Estimating Tire Forces And Tireroad Friction Coefficient C A N B u s ABS/VSC /EBD/AFS/ DYC Command Controller Non – linear Vehicle Model Tire Force Distribution Algorithm Tire Sensor Signal Identity Sensor Platforms For Tire Applications Convert To Valuable Information Estimate Additional States Performance Improvement 11 Tire Instrumentation and Testing Extensive Outdoor Testing High Speed Testing Wet Testing Outdoor Vehicle Based Testing Asphalt/Concrete Testing Gravel Testing Triaxial accelerometer Sensor placed in the crown region Sensor Location Mounting: Adhesive Evaluate the system performance in real world conditions Goal: Examine Sensor Performance Implement ? Design? Optimize Path1 ? Path2? Path3? Path4 0 50 100 150 200 250 300 350 5 0050100150Whe e l Tur n [ ? ]Acceleration [g]Late ral Acc e le ratio n0 50 100 150 200 250 300 350 3 0 0 2 0 0 1 0 00100200300Whe e l Tur n [ ? ]Acceleration [g]Radial Acce le ration0 50 100 150 200 250 300 350 3 0 0 2 0 0 1 0 00100200300Whe e l Tur n [ ? ]Acceleration [g]Circ um fe re ntial Acc e le ratio n12 X Y Z Sensor Signal for One Tire Rotation Sensor Signal D Y N A M I C P H E N M E N O N Linked to 0 50 100 150 200 250 300 350 3 0 0 2 0 0 1 0 00100200300Whe e l Turn [ ? ]Acceleration [g] C i r c u m f e r e n t i a lL a t e r a lR a d i a lLeading Edge Trailing Edge 0 1 2 3 8 0 0 6 0 0 4 0 0 2 0 00200400600800Co ns tan t S pe e d T e stAcceleration[m/s2]Tim e [S ]0 1 2 3 4 5 3 0 0 2 0 0 1 0 00100200300400Ac ce le ra tio n ( tra cti on ) T e stAcceleration[m/s2]Tim e [S ]0 1 2 3 4 6 0 0 4 0 0 2 0 00200400600Tim e [S ]Acceleration [m/s2]De cc e le ra tio n ( bra kin g) Te st9 10 11 12 13 14 1 0 0 0 8 0 0 6 0 0 4 0 0 2 0 002004006008001000Tim e [S ]Acceleration [m/s2]Ste e rin g T e stTire Engineering Dimensions amp。 Testing Path 2 Sensor Signal Processing amp。1 AntiLock Brake System Control Using An Innovative Intelligent TireVehicle Integrated Dynamic Friction Estimation Technique Kanwar Bharat Singh, Graduate Student Saied Taheri, Associate Professor Mechanical Engineering Department Center for Vehicle Systems and Safety Intelligent Transportation Laboratory Virginia Tech 2 State of the art Modern Day Chassis Control Systems IMU (6 axis) Wheel Speed Sensors Steering Wheel Angle Sensor Vehicle With Onboard Sensors Vehicle State Estimator Integrated Chassis Controller Control Inputs Driver Input Estimated States ABS CMD AFS CMD CDC CMD Estimated tire forces and tire–road friction coefficient Controller Optimizes The Tire Usage Online Measurements Of The Stateofthe Vehicle Knowledge Of Current Tire Force Utilization Level And Handling Limits Critical Input For The Controller Masterpiece Of Both Technological Innovation And Impeccable Design Ride and Handling Characteristics Advanced Chassis Control System Increased Vehicle Safety Increased Comfort Better Handling Performance What? How? Why? Host of Technological Innovations Optimizing the interaction between the subsystems of a vehicle 0 100 200 300 400 500 3 0 2 0 1 00102030