INTEGRATION OF ADVANCED TIRE-ICE INTERFACE MODEL INTO A BICYCLE MODEL

摘要

The use of kinematic and dynamic vehicle models for model-based control design is becoming increasingly important, particularly for autonomous driving. For this study, a handling vehicle model, often referred to as the "bicycle model", which considers the longitudinal, lateral, and yaw motion under the assumption of negligible lateral weight shift while traveling over smooth ice, is studied. To ensure the accuracy of the vehicle simulation, the tire model chosen must account for the conditions in which the model will operate. In this paper, an Advanced Tire-Ice Interface Model (ATIIM) is used in conjunction with a bicycle model to accurately predict the dynamics of the vehicle when operating on smooth ice. ATIIM simulates the temperature rise in the contact patch based on the measured pressure distribution and the thermal properties of the tread compound and of the ice surface. ATIIM allows a thorough investigation of the tire-ice contact, with the capabilities of simulating the height of the water film created from the melted ice and tractive effort, the estimation of the viscous friction due to the water layer, and the influence of braking operations. The original Pacejka Tire Model, a modified version of it (to include ATIIM), and a linear tire model are employed to describe the wheel/ground interaction. These tire models are compared to examine their accuracy in predicting the vehicle's performance when employed in a bicycle vehicle model. The study has shown that by incorporating the ATIIM in the tire model, the vehicle was capable of following the desired driving path more accurately than when the other tire models were used.