Probabilistic Interactions of Vehicles With Surroundings: Modeling for Dynamic Control Available to Purchase

A deterministic approach is usually used to describe a vehicle’s motion mathematically when developing controls for vehicle dynamics. This paper presents a methodology for modeling the interaction between a vehicle and its surroundings based on the probabilistic characteristics of a vehicle and roads. The latter effects include distributions of the rolling resistance and the friction coefficient between a tire and the road surface; micro- and macro-profiles in the longitudinal direction of various road surfaces are also embedded in a vehicle model which is built on the inverse dynamics approach. A quality functional of the vehicle running gear efficiency is maximized to obtain optimal power distributions to the drive wheels when implementing a program of motion. Based on such developments, fundamentals for designing control algorithms are discussed. This includes probabilistic variations of the optimal wheel torques; time delays between road conditions of the front and rear wheels; correlations between the time thresholds and the wheel torque and wheel angular velocity variations; and others. These fundamentals are needed to develop and to verify more accurate control algorithms for vehicle dynamics control based on controlling mechatronic power dividing units of vehicle driveline systems. Examples are discussed.