Browsing University of Waterloo by Author "Pirani, Mohammad"
Now showing items 1-7 of 7
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A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models
Pirani, Mohammad; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Hashemi, Ehsan (Taylor & Francis, 2016-09-28)In this paper, a vehicle's lateral dynamic model is developed based on the pure and the combined-slip LuGre tyre models. Conventional vehicle's lateral dynamic methods derive handling models utilising linear tyres and ... -
Corner-based estimation of tire forces and vehicle velocities robust to road conditions
Hashemi, Ehsan; Pirani, Mohammad; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Elsevier, 2017-04)Recent developments in vehicle stability control and active safety systems have led to an interest in reliable vehicle state estimation on various road conditions. This paper presents a novel method for tire force and ... -
Distributed Robust Vehicle State Estimation
Hashemi, Ehsan; Pirani, Mohammad; Fidan, Baris; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-06)A distributed estimation approach based on opinion dynamics is proposed to enhance the reliability of vehicle corners’ velocity estimates, which are obtained by an unscented Kalman filter. The corners’ estimates from a ... -
Integrated estimation structure for the tire friction forces in ground vehicles
Hashemi, Ehsan; Pirani, Mohammad; Khajepour, Amir; Fidan, Baris; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2016-07)This paper presents a novel corner-based force estimation method to monitor tire capacities required for the traction and stability control systems. This is entailed for more advanced vehicle stability systems in harsh ... -
On Spectral Properties of the Grounded Laplacian Matrix
Pirani, Mohammad (University of Waterloo, 2014-08-19)Linear consensus and opinion dynamics in networks that contain stubborn agents are studied in this thesis. Previous works have shown that the convergence rate of such dynam- ics is given by the smallest eigenvalue of the ... -
Reliable Vehicle State and Parameter Estimation
Pirani, Mohammad (University of Waterloo, 2017-09-08)Diverse vehicle active safety systems including vehicle electronic stability control (ESC) system, anti-lock braking system (ABS), and traction control system (TCS) are significantly relying on information about the vehicle's ... -
Resilient Corner-Based Vehicle Velocity Estimation
Pirani, Mohammad; Hashemi, Ehsan; Khajepour, Amir; Fidan, Baris; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-02-23)This paper presents longitudinal and lateral velocity estimators by considering the effect of the suspension compliance (SC) at each corner (tire) for ground vehicles. The estimators are developed to be resilient to sensor ...