Dual extended Kalman filter for vehicle state and parameter estimation

The article demonstrates the implementation of a model-based vehicle estimator, which can be used for combined estimation of vehicle states and parameters. The estimator is realised using the dual extended Kalman filter (DEKF) technique, which makes use of two Kalman filters running in parallel, thus 'splitting' the state and parameter estimation problems. Note that the two problems cannot be entirely separated due to their inherent interdependencies. This technique provides several advantages, such as the possibility to switch off the parameter estimator, once a sufficiently good set of estimates has been obtained. The estimator is based on a four-wheel vehicle model with four degrees of freedom, which accommodates the dominant modes only, and is designed to make use of several interchangeable tyre models. The paper demonstrates the appropriateness of the DEKF. Results to date indicate that this is an effective approach, which is considered to be of potential benefit to the automotive industry.     

Simulation Tools, Modelling and Identification, for an Automotive Shock Absorber in the Context of Vehicle Dynamics

For purpose of simulation of vehicle dynamics, a physical model of an automotive shock absorber has been developed and implemented in several software packages for multibody simulations. In the present paper, the damper model structure is shortly elaborated together with some measurement and estimation techniques to retrieve the model parameters, possibly from dynamometer measurements only. These techniques are illustrated on a shock absorber normally used on the front suspension of a BMW series 7.     

Vehicle Motion Analysis in Relation to Vehicle Safety

The influence of vehicle handling on the possible avoidance of accident situations is discussed. lit is shown that accident reconstruction at present does not provide the necessary information to relate the cause of accidents to the lack of road worthiness of vehicles. It follows that the vehicle behavior in proximity of its performance limit must be determined in order to infer its accident avoidance potential.

The paper presents a review of the state-of-the-art of vehicle modeling, simulation of vehicle maneuvers and full scale testing. The application of the direct method of the stability theory is suggested as a possible means of obtaining performance limit envelopes which are necessary for establishing standards of the performance of vehicles.     

REGULATION OF PRODUCTION OF PARATHYROID HORMONE－RELATED PEPTIDE （PTHrP） AND EXPRESSION OF ITS mRNA IN A HUMANLIVER－DERIVED CE

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Information needs of the continuing urban transportation planning process

Urban transportation is identified as a functional element in the broader context of urban facilities and services. From this point of view, the relative merits of separate information systems for transportation planning and general urban planning, as contrasted to unified systems for all urban management functions, are discussed. The overriding need to make the most effective use of urban resources argues strongly for the unification of urban information systems to the greatest possible extent consistent with the special data requirements of various functional programs. The need to identify and correlate data items for very small areal units and to keep current records of the constantly shifting patterns of social and economic activities in urban areas present difficult, but not insurmountable technical problems. However, the most serious barrier to the development and implementation of comprehensive urban information systems is concluded to be institutional, rather than technical, in nature.     

An application of variance reduction techniques in freeway simulation

Computer simulation models are used in a variety of applications in transportation engineering and have become a prime aid in decision making. The applications range from evaluating traffic control strategies for single intersections to such complex decision processes as evaluating the impact of removing toll facilities at the George Washington Bridge in New York City. While it is widely accepted that simulation offers an unmatchable capability of evaluating alternate control policies, the high variance of the output variable presents a critical problem in such comparative analyses. The simulation models with high output variance must be run longer or replicated many times to achieve a desired precision level, and that corresponds to increased cost of computer resources. This paper describes and illustrates the application of variance reduction concepts that can improve the reliability and efficiency of the simulation experimental process by taking advantage of the simulation model structure. The two variance reduction concepts (common random numbers and antithetic variates) reduce the variance of the output variable by replacing the original sampling procedure with a new procedure that yields the same expected value but with a smaller variance. The application of the variance reduction concept was illustrated using results from experiments with a freeway simulation model. The results indicate that both common random numbers and antithetic variates sampling procedures appreciably reduce the variance of the simulation output measure.     

Roll Dynamics of Commercial Vehicles

An analytical model is developed here for studying the roll dynamics of commercial vehicles. Large displacements and rotations are accounted for in this nonlinear model so that it can be used for the study of roll dynamics well beyond the limits of wheel lift-off. The model is used to illustrate some of the dynamic phenomena in vehicle rollover, especially the interactive coupling between the roll and the vertical modes of motion. The influence of suspension backlash on rollover resistance is demonstrated, and the phenomenon of roll motion resonance is illustrated to suggest new means for evaluating vehicle rollover sensitivity.