A Method of Determining Motion Parameters of Two-Axle Wheeled Vehicles to Ensure the Operation of the Dynamic Stability System

Controllability and stability of the vehicle are the most important performance properties and safety components. The significance of work on improving these properties is recognized worldwide. One of the major problems in the development of algorithms of operation of active safety systems is obtaining reliable information about the quantitative values of the parameters of motion of a wheeled vehicle. This information is required to assess how these parameters match the indicators specified by the driver, to predict the time of occurrence of abnormal situations and to diagnose these situations (for example, a skid of the front or rear axles, a tipping hazard, etc.). One of the most commonly used parameters characterizing the conditions of motion of wheeled vehicles, is the angle of deviation of the actual speed vector of the center of mass from its theoretical (kinematic) speed vector. However, determining the direction of the actual speed vector of the center of mass is associated with high computational difficulties due to the need to build complex predictive Kalman filters. The authors propose a method of determining the parameters of motion of two-axle wheeled vehicles to ensure the operation of the dynamic stability system. Using this method, it is possible to diagnose the skidding of the front or rear axles reliably and economically. The feasibility of the proposed method is demonstrated by the tests simulating motion of two-axle vehicles with front and rear driving axles.

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