The 3-DoF bicycle model with the simplified piecewise linear tire model

Author

Gang Liu ; Sizhong Chen ; Hongbin Ren ; Wenzhu Wang

Author_Institution

Sch. of Mech. Eng., Beijing Inst. of Technol., Beijing, China

fYear

2013

fDate

20-22 Dec. 2013

Firstpage

3530

Lastpage

3534

Abstract

The paper proposed a 3-DoF bicycle model, that considering the longitudinal acceleration or deceleration motion, the lateral motion and the yaw motion of the vehicle. A simplified piecewise tire model is proposed to improve the precise of the tire force. The bicycle model uses the wheel rolling speed information from the real car that is usually used in the ABS or other active safety devices. The simulation results show that compared with the 14-DoF full car model, the proposed bicycle model is good and can be used for the chassis control.

Keywords

bicycles; control system synthesis; force control; identification; motion control; nonlinear control systems; tyres; 3-DoF nonlinear bicycle model; controller design; lateral motion; piecewise linear tire model; system identification; tire force; wheel rolling speed information; yaw motion; Bicycles; Data models; Force; Mathematical model; Tires; Wheels; 3-DoF bicycle model; linear tire model; piecewise; vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on

Conference_Location

Shengyang

Print_ISBN

978-1-4799-2564-3

Type

conf

DOI

10.1109/MEC.2013.6885617

Filename

6885617