ESR

07 Robust es)ma)on of dynamics behavior and

driving diagnosis applied to an intelligent MAGV
with electric powertrain

Angel Gabriel Alatorre Vazquez

Research Objectives &
Background
 Background

Vehicle dynamics at Heudiasyc laboratory (CNRS UTC / Compigne)

2002 2006 2008 2012 2015

Sideslip angle Vertical and lateral Multimodal and

estimation Dynamics estimation robust estimation
By wheel

Lateral dynamics Risk indicators,

estimation by axle Friction estimation
 Background

Forces, sideslip angle and charge transfer es)ma)on on plan roads
 Background

Forces, sideslip angle and charge transfer es)ma)on on plan roads
Objectives & Methods

Development of es)ma)on methods for vehicle dynamics,
applying mul)-model techniques considering the geometry of
the road.
Development of robust observers for vehicle dynamics taking
into account high non linear processes and road variable
geometry.
Development of a control and diagnosis embeded systems able
to detect i)nerary rupture using advanced techniques while
controlling the vehicle chassis, based on the es)mated
dynamics.
Challenges
High nonlinearity of the complet vehicle model
Most of the models used currently are linearized in order to be
simplified from a control design perspective.
There could exist model singularities due to trigonometic
functions and angles.
Observers with fast response to sudden environment
changes.
Usually observer algorithms are able to estimate constant
parameters, however, in this work we are willing to estimate
sudden changes in environment parameters.
Hence, since this parameter modification (oil on road), appears
suddenly, it is desired to develop faster estimation algoriths in
order to be applied to the chassis control.
Design of control laws able to for diminish electric vehicle
comsuption using the estimated parameters looking.
Main tasks
Development of a vehicle mathematical model using a
quaternion approach.
Development of a set of multimodal robust observers to
estimate accurately environmental and vehicle
parameters in the presence of suden disturbances while
varying the road geometry.
Implementation of the robust observer on the testbed
DYNA Peugeot 308 to validate experimentally the
proposed observers and analyze scenarios in which
they will improve vehicles performance.
Propose control algorithms busing the estimated
parameters trying to increase the electric motor
efficiency.
Backup
At Compigne there exist already a series
of testbeds and supporting hardware
ready to perform experimental validation
in real time tests
- Peugeot 308
- Vehicle In the Loop (VIL)
- Mobile Laboratory
 Backup DYNA : Vehicle Dynamics - 2008
Cen)metric GPS
receiver

Front scene
camera
Full access to
vehicle CAN bus:
4 Height wheel speeds,
sensors: yaw rate, brake
Corrsys Datron pressure, accels,
HT500 steering angle,
Real)me logging
Ground truth
system @4kHz
of 3D contact
running a Linux
forces
Xenomai
between tire
and road: 4
Kistler RoaDyn Sideslip angles
S625 FOG IMU Crossbow sensor: Correvit
VG700AB S400
 Backup
Mobile laboratory (2013) and VIL test bench (2014)

Mobile laboratory:
Renault Master 7 seats
Equipped for experimenta)on :
GPS base sta)on for RTK posi)oning
220V power supply
Embedded servers for post-processing and data
analysis
Weather sta)on (wind speed, temperature)
Transporta)on of instrumented vehicles on test
tracks.

Vehicle In the Loop test bench:

Goal: Carry out experiments of autonomous
driving in handled situa)ons
Sensors and environment simulated
Real actuators in func)on (brake, accelera)on,
steering)
10
Backup
Host and Secondments
Host supervisors Alessandro Victorino / Ali Charara (UTC)

1st Secondment Prof. Beer (UOL), Robust state observers

for real-)me, On-board systems.
2nd Secondment Prof. Desmet (KUL), Design of
mechatronic components for automo)ve applica)ons.
3rd Secondment Dr. Barber (JLR), Valida)on methods for
automo)ve control systems, Tes)ng procedures of ac)ve
safety systems