Browsing Mechanical and Mechatronics Engineering by Author "Chen, Shih-Ken"
Now showing items 1-10 of 10
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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 ... -
Estimation of longitudinal speed robust to road conditions for ground vehicles
Kasaiezadeh Mahabadi, Seyed Alireza; Khosravani, Saeid; Khajepour, Amir; Moshchuk, Nikolai; Chen, Shih-Ken; Hashemi, Ehsan (Taylor & Francis, 2016-06-14)This article seeks to develop a longitudinal vehicle velocity estimator robust to road conditions by employing a tyre model at each corner. Combining the lumped LuGre tyre model and the vehicle kinematics, the tyres internal ... -
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 ... -
Longitudinal vehicle state estimation using nonlinear and parameter-varying observers
Hashemi, Ehsan; Khosravani, Saeid; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Elsevier, 2017-05)A corner-based velocity estimation approach is proposed which is used for vehicle’s traction and stability control systems. This approach incorporates internal tire states within the vehicle kinematics and enables the ... -
Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States
Zarringhalam, Reza; Rezaeian, Ayyoub; Fallah, Saber; Khajepour, Amir; Melek, William; Chen, Shih-Ken; Litkouhi, Baktiar (SAE International, 2013-04-08)This paper discusses observability of the vehicle states using different sensor configurations as well as fault-tolerant estimation of these states. The optimality of the sensor configurations is assessed through different ... -
Optimal Torque Control for an Electric-Drive Vehicle with In-Wheel Motors: Implementation and Experiments
Athari, Abtin; Fallah, Saber; Li, Bin; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar (SAE International, 2013-04-08)This paper presents the implementation of an off-line optimized torque vectoring controller on an electric-drive vehicle with four in-wheel motors for driver assistance and handling performance enhancement. The controller ... -
A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles
Rasekhipour, Yadollah; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2016-09-26)Artificial potential fields and optimal controllers are two common methods for path planning of autonomous vehicles. An artificial potential field method is capable of assigning different potential functions to different ... -
Real-time estimation of the road bank and grade angles with unknown input observers
Hashemi, Ehsan; Zarringhalam, Reza; Khajepour, Amir; Melek, William; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken (Taylor & Francis, 2017-01-24)This paper proposes an approach for the estimation of the road angles independent from the road friction conditions. The method employs unknown input observers on the roll and pitch dynamics of the vehicle. The correlation ... -
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 ...