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.


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    Title :

    Driving Envelope: On Vehicle Stability Through Tire Capacities


    Contributors:


    Publication date :

    2022-06-05


    Size :

    4047663 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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