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Matthijs Klomp • Fredrik Bruzelius •

Jens Nielsen • Angela HillemyrEditors

Advances in Dynamicsof Vehicles on Roadsand TracksProceedings of the 26th Symposiumof the International Association of VehicleSystem Dynamics, IAVSD 2019,August 12–16, 2019, Gothenburg, Sweden

123

EditorsMatthijs KlompResearch and DevelopmentVolvo Car CorporationGothenburg, Sweden

Fredrik BruzeliusResearch Institute, Driver and VehicleSwedish National Road and TransportGothenburg, Sweden

Jens NielsenDepartment of Mechanicsand Maritime SciencesChalmers University of TechnologyGothenburg, Västra Götalands Län, Sweden

Angela HillemyrDepartment of Mechanicsand Maritime SciencesChalmers University of TechnologyGothenburg, Sweden

ISSN 2195-4356 ISSN 2195-4364 (electronic)Lecture Notes in Mechanical EngineeringISBN 978-3-030-38076-2 ISBN 978-3-030-38077-9 (eBook)https://doi.org/10.1007/978-3-030-38077-9

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Preface

This volume contains the official proceedings of the 26th IAVSD Symposium onDynamics of Vehicles on Roads and Tracks, which took place on 12–16 August2019, at the Lindholmen Conference Centre in Gothenburg, Sweden.

The main objective of the International Association for Vehicle SystemDynamics (IAVSD, see www.iavsd.org) is to promote the development of, andapplications in, the field of ground vehicle system dynamics. The IAVSDSymposium on Dynamics of Vehicles on Roads and Tracks is a leading interna-tional symposium bringing together researchers, scientists and engineers fromacademia and industry to present and exchange their latest ideas and results. Thesebiennial symposia, held at various locations around the world, have contributedgreatly to a better understanding of ground vehicle system dynamics-relatedproblems.

The organisers of the 26th Symposium were the Department of Mechanics andMaritime Sciences, Chalmers Railway Mechanics (CHARMEC), which is theCentre of Excellence in Railway Mechanics at Chalmers University of Technology,and the Vehicle and Traffic Safety Centre at Chalmers (SAFER). Both centres arepart of the Transport Area of Advance hosted by Chalmers University ofTechnology.

The symposium was attended by 380 delegates from 28 countries and fivecontinents (Africa, Asia, Australia, Europe and North America). Most participantsarrived from China (88), Sweden (73), UK (36), Germany (32), Japan (25), Austria(18), Italy (12) and Korea (11).

Each day of the symposium started with a plenary session and an invitedstate-of-the-art presentation (60 minutes). These state-of-the-art papers have beenpublished in the journal Vehicle System Dynamics (Taylor & Francis), volume 57,issue number 7 (July 2019). After the morning coffee break, the presentations weredivided into five parallel sessions with various themes on road and railway vehicledynamics.

The number of extended abstracts submitted to the symposium was 338 with 131related to road vehicle dynamics and 207 to railway vehicle dynamics. After peerreview by the International Scientific Committee, 63 road abstracts and 83 railway

v

abstracts were selected for 30-minute oral presentations, while 38 road and 47railway abstracts were selected for poster presentations (3-minute oral introductionfollowed by individual discussions in front of each poster). Out of those, 218presentations were selected for publication as full papers in this book, which rep-resents the official conference proceedings.

Part of the chapters gathered in this book covers different topics in railwayvehicle system dynamics such as adhesion and friction, vehicle modelling, condi-tion monitoring, wheel and rail profiles, active suspension, switches and crossings,and wheel out-of-roundness. Further topics include vibration and control, trackmodelling, traction and braking, vehicle design and components, safety andderailment analysis, wheel‒rail contact, wheel and rail damage, pantograph‒cate-nary dynamics, and wheel and rail wear.

The remaining chapters cover themes in road vehicle system dynamics such asadvanced driver-assistance systems (ADAS), handling dynamics, driving automa-tion, integrated chassis control and powertrain/driveline control. Further topicsinclude state estimation, standards, assessment and validation, tyre modelling,suspension and ride, and specialised vehicles.

We expect that this volume of the Lecture Notes in Mechanical Engineering,published by Springer Nature, will serve as a timely reference guide and a source ofinspiration for scientists and engineers in the field of ground vehicle systemdynamics.

The Local Organisation Committee was composed of Matthijs Klomp, FredrikBruzelius, Jens Nielsen, Bengt Jacobson, Mats Jonasson, Sonja Laakso Gustafsson,Mathias Lidberg, Björn Pålsson and Carina Schmidt. The organisation was sup-ported by the professional conference organiser Sweden MEETX with MariaHellberg and Anna Sundström as project leaders.

The 26th IAVSD Symposium was sponsored by Volvo Group, Volvo Cars,AstaZero, Vector Scandinavia, IPG Automotive, Dassault Systèmes Simulia andMSC Software.

We would like to thank the members of the IAVSD 2019 International ScientificCommittee, the members of the IAVSD 2019 Local Organising Committee, thesponsors and all the 380 delegates for making IAVSD 2019 a success.

November 2019 Fredrik BruzeliusJens Nielsen

Chairmen of the IAVSD 2019 International Scientific Committee

Matthijs KlompChairman of the IAVSD 2019 Local Organising Committee

vi Preface

Organisation

International Scientific Committeeof the 26th IAVSD Symposium

Road

Fredrik Bruzelius (Chair), SwedenMasato Abe, JapanMehdi Ahmadian, USAIgo Besselink, NetherlandsDavid Cole, UKLars Drugge, SwedenJohannes Edelmann, AustriaTim Gordon, UKPatrick Gruber, UKShinichiro Horiuchi, JapanDavor Hrovat, USA

Matthijs Klomp, SwedenMathias Lidberg, SwedenMasao Nagai, JapanHuei Peng, USAManfred Plöchl, AustriaJochen Rauh, GermanyWerner Schiehlen, GermanyEric Tseng, USAJun Wang, ChinaKyongsu Yi, Korea

Rail

Jens Nielsen (Chair), SwedenMats Berg, SwedenStefano Bruni, ItalyHugues Chollet, FranceColin Cole, AustraliaRobert Fröhling, South AfricaAndreas Haigermoser, AustriaSimon Iwnicki, UKShihui Luo, P. R. ChinaAnna Orlova, Russia

Oldrich Polach, SwitzerlandBjörn Pålsson, SwedenKlaus Six, AustriaMaksym Spiryagin, AustraliaYoshihiro Suda, JapanHans True, DenmarkNicholas Wilson, USAHuimin Wu, USAWanming Zhai, P. R. China

vii

Contents

Rail: Active Suspension

The ‘FORESEE’ Prototype, Fully Active, Steered TwoAxle Railway Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Simon Iwnicki, Per-Anders Jönsson, Jörgen Gustafsson, Johan Englund,Sebastian Stichel, and Martin Pemberton

Control of Railway Wheelsets – A Semi-active Approach . . . . . . . . . . . 16T. X. Mei, Atousa Zaeim, and Hong Li

A Direct Control Approach for Automatic Steering and Stabilityof Motorized Independently-Rotating Wheels . . . . . . . . . . . . . . . . . . . . . 24Xiaoyuan Liu, Roger Goodall, and Simon Iwnicki

Controlling a Rail Vehicle with Independently-Rotating Wheels . . . . . . 31Nabilah Farhat, Christopher Ward, Omar Shaebi, David Crosbee,Julian Stow, Ruichen Wang, Roger Goodall, and Martin Whitley

Research on Railway Vehicle Stability Control Utilizing MassInertia Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Gang Shen and Qin Li

Application of State Estimators in Active Controlof Railway Wheelsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Lushan Weerasooriya, T. X. Mei, Hong Li, and Y. Luo

Gain Scaling for Active Wheelset Steering on InnovativeTwo-Axle Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Rocco Libero Giossi, Rickard Persson, and Sebastian Stichel

The Development of Stiffness-Adjustable Anti-yaw Damper . . . . . . . . . . 67Wenbiao Huo, Bingshen Yue, Xuegang Liu, Nan Jia, Feng Zhao,and Shuo Zhang

ix

A Dedicated Control Design Methodology for Improved TiltingTrain Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Hugo Magalhães, Pedro Antunes, João Pombo, and Jorge Ambrósio

Scaled Roller Rig to Assess the Influence of Active WheelsetSteering on Wheel-Rail Contact Forces . . . . . . . . . . . . . . . . . . . . . . . . . 82Jan Kalivoda and Petr Bauer

Fault-Tolerant Analysis for Active Steering Actuation SystemApplied on Conventional Bogie Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . 90Bin Fu and Stefano Bruni

Rail: Condition Monitoring

Track Condition Monitoring Based on Car-Body AccelerationUsing Time-Frequency Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Hitoshi Tsunashima

On-Board Wheel Profile Classification Based on VehicleDynamics - From Physical Effects to Machine Learning . . . . . . . . . . . . 113Bernd Luber, Felix Sorribes-Palmer, Gabor Müller, Lorenz Pietsch,and Klaus Six

Condition Monitoring of Rail Vehicle Suspension Elements:A Machine Learning Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Henrik Karlsson, Alireza Qazizadeh, Sebastian Stichel, and Mats Berg

Parameter Identification for Railway Suspension SystemsUsing Cubature Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Selma Zoljic-Beglerovic, Bernd Luber, Georg Stettinger, Gabor Müller,and Martin Horn

A Novel Method for Railway Crossing Monitoring Basedon Ambient Vibration Caused by Train-Track Interaction . . . . . . . . . . 133Chen Shen, Zili Li, and Rolf Dollovoet

Integrated Tool for Assessment of Performanceof Railway Crossings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142Jeroen J. J. Wegdam, Xiangming Liu, and Valeri L. Markine

Damage Detection of Rail Fastening System Through DeepLearning and Vehicle-Track Coupled Dynamics . . . . . . . . . . . . . . . . . . 148Zhandong Yuan, Shengyang Zhu, and Wanming Zhai

A Study on the Correlation Between Measured Track Irregularitiesand Vehicle Responses in High-Speed Lines . . . . . . . . . . . . . . . . . . . . . . 154Xiubo Liu, Shuai Ma, Zilong Wei, and Bo Zhang

x Contents

Diagnostics of Freight Cars Using On-Track Measurements . . . . . . . . . 164Yuri P. Boronenko, Galina A. Povolotskaia, Rustam V. Rahimov,and Yurii B. Zhitkov

Condition Stages Identification for Railway CrossingMonitoring System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170Xiangming Liu and Valeri L. Markine

Rail: Pantograph-Catenary Dynamics

Sensitivity Analysis of Flexible Upper Frame of Pantographwith a Novel Simplified Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181Jiangwen Wang, Guiming Mei, and Weihua Zhang

Study on Simulation Method of Pantograph-Catenary SystemConsidering Ice Coating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189Yongming Yao, Dong Zou, Jiangwen Wang, Ning Zhou,and Weihua Zhang

Analysis of the Current Collection Quality of the Variable SpeedZone of the Pantograph-Catenary System . . . . . . . . . . . . . . . . . . . . . . . 196Jiangyang Qiu, Guiming Mei, Weihua Zhang, Jiangwen Wang,Mengying Tan, Zhong Huang, and Wei Qiao

Influence of Key Parameters on High Speed Overhead ConductorRail and Pantograph System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201Long Chen, Zhigang Liu, Jing Zhang, and Zeyao Hu

Study on the Characterization of Degraded Catenary in Swedento Enhance Safety and Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212Zhendong Liu, Sebastian Stichel, Peter Larsson, and Jan Hjort

Semi-active Dampers for Multiple Pantograph Operation . . . . . . . . . . . 220Stefano Bruni, Marco Carnevale, and Alan Facchinetti

A Galerkin Approach for Modellingthe Pantograph-Catenary Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . 230John Martin and Stephen Duncan

Rail: Safety and Derailment Analysis

Influence of Rail Corrugation on Fatigue Life of Bogie Frameof High-Speed EMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245Baoan Zhang, Jing Zheng, Dalian Yu, Jimin Zhang, Hechao Zhou,Xin Liang, and Wenqiang Qu

Contents xi

Investigation of Relationship Between Initial Setting of LevelingValves and Air Spring Pressure of a Railway Vehicle WhenAssuming the Centrifugal Force Action . . . . . . . . . . . . . . . . . . . . . . . . . 252Takatoshi Hondo and Takayuki Tanaka

An Experimental Study on the Performance of Guard Angleof Meter-Gauge Track During an Earthquake . . . . . . . . . . . . . . . . . . . . 261Kohei Iida, Masahito Kuzuta, Yukio Nishiyama, Takayuki Tanaka,and Takatoshi Hondo

Influences of Infrastructure Property on the Train-TrackInteraction Due to Track Irregularities . . . . . . . . . . . . . . . . . . . . . . . . . 269Chao Chang, Liang Ling, Wanming Zhai, and Kaiyun Wang

Analysis on Operation Safety of Express Freight Trainsin Subgrade-Bridge Transition in Crosswind Environment . . . . . . . . . . 278Jingcheng Wen, Zhenggang Lu, and Qi Huang

Investigation on Running Safety of Empty Wagons in LongFreight Train Passing a Worn Switch Rail . . . . . . . . . . . . . . . . . . . . . . 284Xin Ge, Kaiyun Wang, Liang Ling, Lirong Guo, and Kun Zhou

Scenario Substructure Method (SSM) for Simulationof Long Trains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292Sönke Lück and Rolf Naumann

Dynamic Behavior of a High-Speed Train Subjected to Earthquakeand Emergency Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303Liang Ling, Kaiyun Wang, and Wanming Zhai

Safety to Crosswind of Railway Vehicles in Presenceof Wind Barriers: Numerical-Experimental Approach . . . . . . . . . . . . . . 312Gisella Tomasini, Elia Brambilla, and Stefano Cii

Hunting Phenomenon Evolution of HSRS and Anti-huntingAbsorbing Wide-Band Mechanism Solution . . . . . . . . . . . . . . . . . . . . . . 317Wei Du, Ming-wei Piao, Guo-dong Li, and Jing Yang

Reliability Analysis of Rail Fastening System When a Heavy HaulLocomotive Passing Through a Small Radius Curve . . . . . . . . . . . . . . . 328Xuancheng Yuan, Jianzheng Jiang, Shengyang Zhu, Wanming Zhai,and Huibin Lou

Risk Analysis of Vehicle/Track Interaction Related Derailmentfor Dangerous Goods Transportation by Rail . . . . . . . . . . . . . . . . . . . . 337Wei Huang, Yan Liu, Luke Steiginga, Zach Schenk, and Elton Toma

xii Contents

Rail: Switches and Crossings

A Parameterized Turnout Model for Simulation of DynamicVehicle-Turnout Interaction with an Application to CrossingGeometry Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351Björn A. Pålsson

Modelling Track Flexibility in Turnouts Using MBS Approach . . . . . . . 359Pedro Jorge, Yann Bezin, Ilaria Grossoni, and Sergio Neves

Relative Movement of Switch/Stock Rails and the Wheel/RailInteraction Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367Yann Bezin, Dimitrios Kostovasilis, and Bello Sambo

Prediction of Long-Term Damage in Railway Crossings Accountingfor Variability in Dynamic Traffic Loads . . . . . . . . . . . . . . . . . . . . . . . . 376Rostyslav Skrypnyk, Jens Nielsen, Björn Pålsson, and Magnus Ekh

A Model for Evaluating Long-Term Support Degradationat Railway Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382Ilaria Grossoni, Yann Bezin, Louis Le Pen, Geoff Watson,and Dimitrios Kostovasilis

Reducing Impact Loads at Railway Crossings Using TunedResilient Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390Yann Bezin, Dimitrios Kostovasilis, and Bello Sambo

Prediction of Vertical Dynamic Vehicle–Track Interactionand Sleeper–Ballast Contact Pressure in a Railway Crossing . . . . . . . . . 397Xin Li, Jens C. O. Nielsen, and Peter T. Torstensson

Rail: Track Modelling

Validation of a Finite Element Multibody System Modelfor Vehicle-Slab Track Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407Zhiyong Shi, Martina Meacci, Enrico Meli, Kaiyun Wang,and Andrea Rindi

Simulation of Vertical Dynamic Vehicle–Track Interaction –

Comparison of Two- and Three-Dimensional Models . . . . . . . . . . . . . . . 415Emil Aggestam, Jens C. O. Nielsen, and Niklas Sved

Analysis of Vibration Characteristics and Isolation Measuresof Railway Underpassing Airport Terminal . . . . . . . . . . . . . . . . . . . . . . 423Feng Dai, Jizhong Yang, Su Wang, and Xuwei Jin

Contents xiii

Rail: Traction and Braking

Locomotive Adhesion Control + Rail Friction FieldMeasurements = ? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433Maksym Spiryagin, Harold Harrison, Qing Wu, Dwayne Nielsen,Colin Cole, Peter Wolfs, Chris Bosomworth, and Mark Hayman

Analysis of Self-excited Vibrations of an ElectromagneticTrack Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442Daniel Tippelt, Johannes Edelmann, Manfred Plöchl, and Michael Jirout

Dynamics of Wagon System Containing Out-of-Round WheelsSubject to Brake Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452Qingqun Lan, Manicka Dhanasekar, and Yunendar Handoko

Curving Performance of High-Speed Trains Runningon Steep Grades . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460Yanlin Hu, Liang Ling, Kaiyun Wang, and Wanming Zhai

Simulation of Long Train Dynamics with the Considerationof Wheel-Rail Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466Chris Bosomworth, Qing Wu, Maksym Spiryagin, and Colin Cole

Proposal and Test Run of Wheel Slip Stabilizing Control . . . . . . . . . . . 474Shingo Makishima, Michiyasu Okubo, and Masashi Takagi

Rail: Vehicle Design and Components

Which Parameters Determine the Type of BogieHunting Bifurcation? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483Oldrich Polach and Jonas Vuitton

Determination of Aerodynamic Drag of a Train Consistingof Gondola Cars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491B. O. Poliakov and Iu. P. Boronenko

Contrastive Studies on Non-linearity Vibration Influencesto Rigid-Flex Coupling System of Rolling Stockfor Light Freight Rails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497Te-te Li, Ming-wei Piao, Hua Li, Mao-sheng He, and Shi-feng Xu

Effect of Constant Contact Side Bearing Design on DynamicPerformances of Wagon with Two Conventional Three-Piece Bogies . . . 508Yanquan Sun, Maksym Spiryagin, and Colin Cole

The Structure Design and Dynamic Performance Analysisfor Articulated Urban Electric Multiple Unit . . . . . . . . . . . . . . . . . . . . . 516Wen Li, Junchen Han, Chunyou Gao, Lihui Ren, Wengen Xue, and Nuo Li

xiv Contents

Critical Offset Distance of Center Plate Based on WheelsetLateral Force Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524Gang Wang, Lihui Ren, Yuanjin Ji, and Youpei Huang

Investigation of the Performance and Potential of a Novel TracklessTrain with Pneumatic Tires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531Ning Zhang, Xi Wang, Zi-qian Zhao, Wei-chao Zhuang,and Guo-dong Yin

Curving Performance Evaluation of EEF Bogie with InclinedWheel Axles Using Scale Model Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . 537Yohei Michitsuji, Kohei Mizuno, Yoshihiro Suda, Shihpin Lin,and Shingo Makishima

A Newly Designed Coupled-Bogie for the Straddle-Type MonorailVehicle: Calculation Method for the Key Parameterand Dynamic Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541Han Leng, Lihui Ren, Yuanjin Ji, and Youpei Huang

Study on the Mechanism and Influencing Factors of HydraulicAnti-kink System of Low-Floor Tram . . . . . . . . . . . . . . . . . . . . . . . . . . 551Youpei Huang, Yuanjin Ji, Dao Gong, and Lihui Ren

Coil Springs in Suspensions of Railway Vehicles . . . . . . . . . . . . . . . . . . 562Anna M. Orlova, Aleksei M. Sokolov, Ekaterina A. Rudakova,Denis V. Shevchenko, Artem V. Gusev, and Stanislav I. Popovich

Inertance-Integrated Primary Suspension Optimisationon an Industrial Railway Vehicle Model . . . . . . . . . . . . . . . . . . . . . . . . 570Timothy Lewis, Yuan Li, Gareth Tucker, Jason Zheng Jiang, Simon Neild,Malcolm C. Smith, Roger Goodall, Simon Iwnicki, and Neil Dinmore

A Simplified Yaw Damper Model for Use in Dynamics Simulation . . . . 580Caihong Huang and Jing Zeng

Modelling Complex Series Combinations of Draft Gear Springs . . . . . . 591Colin Cole, Maksym Spiryagin, and Qing Wu

Novel Automated Urban Maglev Transport System:A Validated Multibody Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599Bernhard Kurzeck and Simon Fink

Rail: Vehicle Modelling

Study on the Non-linear Parametric Model of Hydraulic DampersBefore Relieving for Railway Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . 611Hongxing Gao, Maoru Chi, Xuesong Jin, Shulin Liang, Changxin Chi,and Xiaozhi Zhou

Contents xv

Estimation of Dynamic Properties for the Validation of DrivenRailway Vehicle Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622Josef Fuchs, Bernd Luber, Gabor Müller, and Wolfgang Rulka

Using Saint Venant’s Elements in Multibody Archeological Studies . . . . 629Hugues Chollet

Rail: Wheel and Rail Contact

Nonlinear Observer Design for Guidance and Tractionof Railway Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639Andreas Heckmann, Christoph Schwarz, Alexander Keck,and Tilman Bünte

Estimation of Friction Coefficient Between Outside Wheel Flangeand Rail Considering Influence of Wheel/Rail Wear . . . . . . . . . . . . . . . 649Yosuke Ichiyanagi, Yohei Michitsuji, Akira Matsumoto, Yasuhiro Sato,Hiroyuki Ohno, Daisuke Yamaguchi, Masuhisa Tanimoto,Takuya Matsuda, and Takanori Matsumi

Wheel/Rail Contact Creep Curve Measurement and Low SpeedWheel Climb Derailment Investigation . . . . . . . . . . . . . . . . . . . . . . . . . . 660Xinggao Shu, Yuqing Zeng, Nicholas Wilson, Randy Thompson,and Ali Tajaddini

Wheel/Rail Creep Force Model for Wayside Applicationof Top-of-Rail Products Incorporating Carry-Onand Consumption Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669Zing S. Lee, Gerald Trummer, Klaus Six, and Roger Lewis

Research and Verification on the Nonlinear Characteristicsof Wheel/Rail Equivalent Conicity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 678Ziqiang Xu and Xiaoqing Dong

On the Double-Point Wheel-Rail Contact Situation Using SimplifiedConstraints. A Preliminary Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686Javier F. Aceituno and José L. Escalona

Comparison of Wheel-Rail Contact Modelling in MultibodySystem Online Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694Binbin Liu and Stefano Bruni

The Formation Mechanism of High-Order Polygonal Wearof Metro Train Wheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704Xiaoxuan Yang, Wei Li, Gongquan Tao, and Zefeng Wen

Suppression Measures for High-Order Polygon Wear Wheels Basedon Resonance Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714Huanyun Dai, Yayun Qi, Junjie Shi, and Dadi Li

xvi Contents

Rail: Wheel and Rail Damage

New Methodology to Estimate Costs Caused by Rail Wearand RCF Depending on the Type of Running Gear . . . . . . . . . . . . . . . . 727Visakh V. Krishna, Saeed Hossein-Nia, and Sebastian Stichel

Effect of the Influence Factors on Rail Head Checks Initiationand Wear Growth Under Wheel-Rail Stick-Slip Contact . . . . . . . . . . . . 735Yu Zhou, Congcong Zhang, Xuwei Huang, and Dingren Sun

Study on the Initiation of Fatigue Cracks Due to Wheel-Rail Impactat Insulated Rail Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 744Zilong Wei, Xiubo Liu, Yu Zhou, Xinyu Jia, and Guoqing Li

An Innovative Tool for Simultaneous Wheel and RailDamage Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 754Butini Elisa, Marini Lorenzo, Meacci Martina, Meli Enrico, Rindi Andrea,Zhiyong Shi, X. J. Zhao, and W. J. Wang

Impact of Track Health on Vehicle-Track Interaction Loads . . . . . . . . . 762Caterina Ariaudo, Naim Kuka, and Riccardo Verardi

Simulation of Track-Locomotive Interactionsin the Longitudinal Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769Qing Wu, Yan Sun, Maksym Spiryagin, and Colin Cole

Rail Vehicle Dynamics Simulation-Based Decision Supportfor Novel Block Brake Material Implementation in Sweden . . . . . . . . . . 775Carlos Casanueva, Babette Dirks, and Tohmmy Bustad

Rail: Wheel and Rail Profiles

Assessment of Curve Passing Performance and Active SteeringControl of Railway Vehicle with Independently Rotating WheelsUsing Negative Tread Conicity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785Yu Wang, Shihpin Lin, Hiroshi Tajima, and Yoshihiro Suda

Research on the Vibration and Matching Characteristicsof the Typical Wheel-Rail Profiles of High-Speed Railway in China . . . 793Maorui Hou, Xiaoyi Hu, Di Cheng, and Lan Li

Integration of a Wear Model into Wheel Profile Optimisationon Metro Vehicles to Mitigate Flange Wear . . . . . . . . . . . . . . . . . . . . . . 801Dexiang Ren, Gongquan Tao, Zefeng Wen, Shulin Liang, Hongqin Liang,and Xuesong Jin

Optimization of a Tram Wheel Profile to Reduce Flange Wearon Sharp Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812Zhang Chen, Liang Ling, Yu Sun, Yichang Zhou, Kaiyun Wang,and Wanming Zhai

Contents xvii

Torsional Vibration as a Method of Diagnostic Toolfor Wheel Flatness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 821Zhiwei Wang, Paul Allen, Jiangwen Wang, Guanhua Huang, Sisi Xu,and Weihua Zhang

Dynamic Responses of Gear Transmission System of High-SpeedTrain Due to Wheel Polygonal Wear . . . . . . . . . . . . . . . . . . . . . . . . . . . 827Zhonghui Yin and Jiye Zhang

Rail: Wheel and Rail Wear

Research on Wear of Locomotive Wheel Considering Traction . . . . . . . 837Yang Yang, Maofan Zhang, Kongming Wang, and Yan Li

Wheel Profile Evolution Analyses Based on Measured Field Data . . . . . 846K. Six, C. Bernsteiner, G. Müller, B. Kämpfer, M. Rosenberger,and C. Marte

Rail: Vibration and Control

Investigation on the Secondary Quasi-Zero-Stiffness SuspensionSystem of High-Speed Railway Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . 855Zhen Liao, Bing Yang, Shoune Xiao, Guangwu Yang, and Tao Zhu

Lateral Guidance Control Using Information of PrecedingWheel Pairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 863Gustav Grether, Andreas Heckmann, and Gertjan Looye

Analysis of Ride Comfort of a High-Speed Train Basedon a Coupled Track-Train-Seat-Human Model with Lateral,Vertical and Roll Vibrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 872Jun Wu and Yi Qiu

Study on Control Method of Maglev Vehicle-Guideway CouplingSystem Based on Robust Control Theory . . . . . . . . . . . . . . . . . . . . . . . . 882Qin Li and Gang Shen

Study on the Dynamics of Gear Transmission Systemof High Speed Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890Zunsong Ren, Gang Sun, and Xue Wei

Innovative Methodology for Heavy Haul Train-Track InteractionDynamics Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 899Yanquan Sun, Qing Wu, Wubin Cai, and Maksym Spiryagin

Evaluation Methods of Carbody Hunting Instabilityof Railway Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 908Yi Wu, Jing Zeng, Qunsheng Wang, Ren Luo, and Bin Zhu

xviii Contents

The Research of Traction Inverter Fault Diagnosis Basedon the Analysis of Motor Vibration Signals . . . . . . . . . . . . . . . . . . . . . . 915Yixuan Shi and Huanyun Dai

Dynamic Modeling and Coupled Vibration Analysis of Middle-LowSpeed Maglev Vehicle-Bridge-Controller System . . . . . . . . . . . . . . . . . . 922Zhihui Chen, Jun Yin, Jizhong Yang, and Dubei Feng

Vibration of Straight and Curved Beam Coupled Systems . . . . . . . . . . . 929Takahiro Tomioka

High Speed Railway Vehicle Comfort. The Influence of PneumaticFlow Restrictor Diameter, Rail Irregularities, Speed and StructuralDamping and Stiffness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 938Publio Pintado, Carmen Ramiro, Angel Luis Morales,Antonio Javier Nieto, and Jose Manuel Chicharro

Investigation of the Vibration-Attenuating Effect of DifferentDamping Measures on Upper Cover Buildings of Railway Lines . . . . . . 946Jizhong Yang, Xuwei Jin, Dubei Feng, and Jinfang Huang

On the Influence of Track Excitations, Horizontal Curvatureand Longitudinal Velocity on the Ride Comfort of Trams . . . . . . . . . . . 957Tobias Bettinger, Paul Schönhuber, and Christian Schindler

Analysis of Vibration Propagation Law of Rail TransitUnderpassing Large-Span Building Structure . . . . . . . . . . . . . . . . . . . . 963Feng Dubei, Jin Xuwei, Ge Jinrong, and Yang Jizhong

Prediction of Maximum Torsional Wheel-Set Axle VibrationsConsidering Non-linear Adhesion Characteristics . . . . . . . . . . . . . . . . . 970Alexander Meierhofer, Christof Bernsteiner, Gabor Müller,Florian Semrad, Franz-Josef Weber, Martin Rosenberger, and Klaus Six

The Influence of the Dynamic Properties of the Primary Suspensionon Metro Vehicle-Track Coupled Vertical Vibration . . . . . . . . . . . . . . . 977Wenjing Sun, David Thompson, and Jinsong Zhou

Road: Driving Automation

Designing and Evaluating Active Safety Systems for RolloverPrevention of All-Terrain Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 989Erfan Nikyar, Vishal Venkatachalam, and Lars Drugge

A Feedforward Controller Design for Lane Keep Assist ThroughDifferential Braking Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1000Hironori Ito, Akira Nagae, Masayuki Ikeda, and Ryo Inomata

Contents xix

Corner Test Cases for ADAS and HAVs: A Computational Studyon the Influence of Road Irregularities on Vehicle Vision Systems . . . . . 1008Yannik Weber and Stratis Kanarachos

An Adapted Evasive Manoeuvre Assist Function for Over-Reactiveand Under-Reactive Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017Preetham Harinath, Santusht Vasuki Kittane, Derong Yang, Lars Drugge,and Mats Jonasson

Review on Tire-Road-Friction Potential Estimation Technologies . . . . . 1027Ari J. Tuononen, Markus Ovaska, and Arto Niskanen

Single Wheel Braking - A New Method to Measure FrictionPotential on Public Roads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1033Thorsten Lajewski, Jochen Rauh, and Steffen Müller

Classification of Road Surface and Weather-Related ConditionUsing Deep Convolutional Neural Networks . . . . . . . . . . . . . . . . . . . . . 1042Alexander Busch, Daniel Fink, Max-Heinrich Laves, Zygimantas Ziaukas,Mark Wielitzka, and Tobias Ortmaier

Adaptive Control and Robust MPC for Linearising LongitudinalVehicle Dynamics for Platooning Applications . . . . . . . . . . . . . . . . . . . . 1052Umberto Montanaro, Shilp Dixit, and Saber Fallah

Investigation of Vehicle and Driver Behaviour During Tyre BurstUsing Driving Simulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1062Masahiko Aki

Vehicle Localization with Vehicle Dynamics During GNSS Outages . . . 1071Letian Gao, Lu Xiong, Xin Xia, Yishi Lu, and Zhuoping Yu

Dynamic Multiobjective Control Performance Assessmentfor an Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1080André Kempf, Elias Weber, and Steffen Müller

Path Control in Limits of Vehicle Handling: A Sensitivity Analysis . . . . 1089Erik Wachter, Antoine Schmeitz, Fredrik Bruzelius, and Mohsen Alirezaei

Design of Steering Controller of Automated Driving Bus . . . . . . . . . . . . 1096Takayuki Ando and Kimihiko Nakano

All-Weather Autonomous Vehicle: Performance Analysisof an Automated Heavy Quadricycle in Non-snow and SnowstormConditions Using Single Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1100Umar Zakir Abdul Hamid, Aku Kyyhkynen, José Luis Peralta-Cabezas,Jari Saarinen, and Harri Santamala

xx Contents

Achieving Driving Comfort of AVs by Combined Longitudinaland Lateral Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1107Chongfeng Wei, Richard Romano, Natasha Merat,Foroogh Hajiseyedjavadi, Albert Solernou, Evangelos Paschalidis,and Erwin R. Boer

Combined Lateral and Longitudinal Control with VariableReference Path for Automated Driving . . . . . . . . . . . . . . . . . . . . . . . . . 1114Dongpil Lee, Kyoungsu Yi, and Matthijs Klomp

Control of a Scaled Vehicle in and Beyond Stable Limit Handling . . . . 1121Mart Baars, Hans Hellendoorn, and Mohsen Alirezaei

Flow Field and Neural Network Guided Steering Controlfor Rigid Autonomous Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1129Mengxuan Song, Timothy Gordon, Yinqi Liu, and Jun Wang

Lateral Control Design for Autonomous Vehicles Usinga Big Data-Based Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1137Dániel Fényes, Balázs Németh, and Péter Gáspár

Search-Based Motion Planning for PerformanceAutonomous Driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1144Zlatan Ajanovic, Enrico Regolin, Georg Stettinger, Martin Horn,and Antonella Ferrara

Driver Interventions in Critical Situations DuringAutomated Driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1155Thang Nguyen and Steffen Müller

Road: Dynamics of Specialized Vehicles

Handling Dynamics of a Lightweight Solar-Electric Vehiclewith Direct Yaw Moment Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1169Anna Lidfors Lindqvist and Paul D. Walker

A Reinforcement Learning Enhanced Fuzzy Control for Real-TimeOff-Road Traction System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1178Vladimir Vantsevich, David Gorsich, Andriy Lozynskyy,Lyubomyr Demkiv, and Sviatoslav Klos

Trajectory Tracking of a Four-Wheel-Steering Vehicleon Harsh Road . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1189Fangwu Ma, Jiahong Nie, Liang Wu, Liwei Ni, Guangjian Xu,and Weiwei Jia

Dynamics, Control and Stability of Motion of Electric Scooters . . . . . . . 1199Daniel García-Vallejo, Werner Schiehlen, and Alfonso García-Agúndez

Contents xxi

Parameter Sensitivity Analysis of the Anti-rolling Performanceof Straddling Type Monorail Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . 1210Chaoran Wang, Yuanjin Ji, Youpei Huang, and Liuhui Ren

Stochastic Sensitivity of External Impact Factorson the Straight-Line Performance of a Generic Motorbike . . . . . . . . . . 1222Christoph Feichtinger and Peter Fischer

Road: Handling Dynamics

The Construction of Risk Potential Driver Model for ObstacleAvoidance of Dynamics Subject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1233Yuto Kobayashi, Ichiro Kageyama, and Tetsuya Kaneko

Lateral Vehicle Dynamics on Rutted Roads . . . . . . . . . . . . . . . . . . . . . . 1242I. J. M. Besselink, S. Achrifi, and H. Nijmeijer

Model Predictive Control for Evasive Steeringof Autonomous Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1252Wansik Choi, Hyun-Sik Nam, Byungjoo Kim, and Changsun Ahn

The Role of Human Sensory Dynamics in Car Driving . . . . . . . . . . . . . 1259Christopher Nash and David Cole

A Free-Trajectory Quasi-steady-state Optimal-Control Methodfor Minimum-Time Problems of Cars and Motorcycles . . . . . . . . . . . . . 1264Matteo Veneri and Matteo Massaro

Directional Stability of a Front Wheel Drive Passenger Carwith Preemptive Use of the Direction Sensitive LockingDifferential (DSLD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1271Mathias Lidberg and Jonas Alfredson

Dolly Steering Controller for Enhancing Low- and High-SpeedPerformance of High Capacity Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . 1278Abhishek Singh Tomar, Abhishek Kalose, Karel Kural,and Joop Pauwelussen

Scaled Experiment with Dimensional Analysis for Vehicle LateralDynamics Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1288Yeayoung Park, Byungjoo Kim, and Changsun Ahn

Validation of Driver Model Based Handling Quality Evaluationby Cerebral Blood Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1295Hiromi Arisaka, Yuya Hirota, Yusuke Tanaka, Takatoshi Tsukano,Makoto Yamakado, Yoshio Kano, and Masato Abe

xxii Contents

Vehicle Handling Indexes Mining and Consistency of Subjectiveand Objective Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1302Xinjie Zhang, Shuai Tang, Konghui Guo, Dong Chen, Wentao Li,and Ke He

Yaw Center Control of a Vehicle Using Rear Wheel Steering . . . . . . . . 1313Mahmoud Mohsen Abdelfatah

Development of Velocity Dependent Front Wheel Angle RelationBased on Tire Workload Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . 1322G. Arjunbarath, P. V. Manivannan, and C. Sujatha

Integrated Control for Four-Wheel-Independent-Drive EVs’ LateralStability and Rollover Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1333Yuye Hou, Lu Xiong, Bo Leng, and Zhuoping Yu

On the Enhancement of Vehicle Handling and Energy Efficiencyof Electric Vehicles with Multiple Motors: The iCOMPOSE Project . . . 1342Basilio Lenzo, Patrick Gruber, and Aldo Sorniotti

Virtual Tire Design/Assessment in the Early VehicleDevelopment Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1350Francesco Calabrese, Manfred Bäcker, Axel Gallrein, and Shenhai Ran

Roll Mode Change Due to Vehicle Speed and Its Effecton Yaw Natural Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1360Hideki Sakai

The Effect of Suspensions and Racetrack Three-Dimensionalityon the Minimum Lap Time of Motorcycles . . . . . . . . . . . . . . . . . . . . . . 1368Edoardo Marconi and Matteo Massaro

Drift Control for Path Tracking Without Prior Knowledgeof Drift Equilibria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1378Eunhyek Joa and Kyongsu Yi

The Significance of Roll on the Dynamics of Ground VehiclesSubjected to Crosswind Gusts by Two-Way Coupled Simulationof Aero- and Vehicle Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1388Tural Tunay, Ciarán J. O’Reilly, and Lars Drugge

Evaluation of Frequency Response Characteristics on “g-g” Planesby Using Quasi-steady State Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1398Takatoshi Tsukano, Yoshio Kano, Makoto Yamakado, and Masato Abe

Design of an Improved Robust Active Trailer Steering Controllerfor Multi-trailer Articulated Heavy Vehicles UsingSoftware/Hardware-in-the-Loop Real-Time Simulations . . . . . . . . . . . . . 1406Mutaz Keldani and Yuping He

Contents xxiii

Effect of Floating Bridge Motion on Vehicle Ride Comfortand Road Grip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1416Dragan Sekulic, Bengt Jacobson, Stian Johannesen Moe,and Erik Svangstu

Quarter Car Test Rig for Extended Dynamics Researchin Laboratory Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1425Vidas Žuraulis and Artūras Kilikevičius

The Mechanism Research of Body Sway of Car-TrailerCombinations Considering Steering System Characteristics . . . . . . . . . . 1435Ning Zhang, Tian Li, Jian Ma, and Guo-dong Yin

Road: Integrated Chassis Control

An Architecture of Hardware and Driver in the Loop Simulationfor Electric Power Assisted Steering System . . . . . . . . . . . . . . . . . . . . . . 1449Weitao Chen, Matthijs Klomp, Utsav Khan, Andrea Bianchi, Shenhai Ran,and Bengt Jacobson

Real-Time Minimum-Time Lane Change Using the ModifiedHamiltonian Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1457Victor Fors, Yangyan Gao, Björn Olofsson, Timothy Gordon,and Lars Nielsen

Real-Time Capable Nonlinear Model Predictive Wheel Slip Controlfor Combined Driving and Cornering . . . . . . . . . . . . . . . . . . . . . . . . . . 1466Mathias Metzler, Alessandro Scamarcio, Patrick Gruber,and Aldo Sorniotti

Cooperative Game Based Obstacle Avoidance Controlby Integrating the Steering and Braking Systems . . . . . . . . . . . . . . . . . 1474Kaixing Xiao and Shaobo Lu

Integrated Chassis Control for Improved Braking Performanceon Rough Roads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1483Herman A. Hamersma and P. Schalk Els

Exploring Active Camber for Path Following and Yaw Stabilityof Autonomous Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1491Wenliang Zhang, Lars Drugge, Mikael Nybacka, and Zhenpo Wang

Coordinated Control of Slip Prevention and Energy Managementfor Four-Wheel-Drive Hybrid Electric Vehicles . . . . . . . . . . . . . . . . . . . 1500Jingni Yuan, Lin Yang, and Yixin Yang

Researches on 4WIS-4WID Stability with LQR Coordinated4WS and DYC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1508Xinbo Chen, Yanqun Han, and Peng Hang

xxiv Contents

Robust Adaptive Anti-lock Braking Controller Design . . . . . . . . . . . . . . 1517Lu Xiong, Xing Yang, Bo Leng, and Guirong Zhuo

Recent Advancements in Continuous Wheel Slip Control . . . . . . . . . . . 1525Dzmitry Savitski, Valentin Ivanov, Klaus Augsburg, Barys Shyrokau,and Hiroshi Fujimoto

The Influence of Tyre Lateral Force for Control Allocationof Yaw Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1536Derong Yang and Mats Jonasson

Torque Vectoring Control on Ice for Electric Vehicleswith Individually Actuated Wheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1543Timur Agliullin, Valentin Ivanov, Vincenzo Ricciardi, Manuel Acosta,Klaus Augsburg, Corina Sandu, Barys Shyrokau, and Dzmitry Savitski

Road: Powertrain and Driveline Control

Influence of System Dynamics in Brake Blending Strategiesfor Electric Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1555Javier Pérez Fernández, Juan María Velasco García,Manuel Gonzalo Alcázar Vargas, Juan Jesús Castillo Aguilar,and Juan Antonio Cabrera Carrillo

Evaluation of Combined Energy-Efficient and Stability StrategiesUtilising Direct Yaw Moment Control . . . . . . . . . . . . . . . . . . . . . . . . . . 1565Peikun Sun, Annika Stensson Trigell, Lars Drugge,and Jenny Jerrelind

Towards the Limits of Vibration Attenuation in Drivetrain Systemby Torsional Dynamics Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1574Viktor Berbyuk

Vehicle Sideslip Angle Estimation Using Disturbance Observer . . . . . . . 1584Baek-soon Kwon and Kyongsu Yi

Influence of the Prediction Model Complexity on the Performanceof Model Predictive Anti-jerk Control for On-boardElectric Powertrains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1593Alessandro Scamarcio, Mathias Metzler, Patrick Gruber,and Aldo Sorniotti

Road: State Estimation

An Investigation of Longitudinal Tyre Force Observationfor Slip Control System Development . . . . . . . . . . . . . . . . . . . . . . . . . . . 1607Shenjin Zhu, Leon Henderson, Edo Drenth, Fredrik Bruzelius,and Bengt Jacobson

Contents xxv

Estimation of States and Parameters with Dual Extended KalmanFilters for Active Roll Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1616Seongjin Yim, Jaewon Nah, and Manbok Park

Vehicle Sideslip Estimation for Four-Wheel-Steering VehiclesUsing a Particle Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1624Basilio Lenzo and Ricardo De Castro

Sideslip Angle Estimation Using a Kinematics Based UnscentedKalman Filter and Digital Image Correlation . . . . . . . . . . . . . . . . . . . . 1635Wian Botes, Theunis R. Botha, and P. Schalk Els

An Investigation on the Effect of Lateral Motion on Normal ForcesActing on Each Tires for Nonholonomic Electric Vehicle:Experimental Results Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1643K. Baarath, Muhammad Aizzat Zakaria, Mohamad Heerwan Bin Peeie,Umar Zakir Abdul Hamid, and A. Fakhri A. Nasir

A Novel Vehicle Localization System Using Vision Modulefor Heading Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1651Yishi Lu, Lu Xiong, Yanqun Han, and Letian Gao

Model Based Vehicle Localization via an IterativeParameter Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1660Máté Fazekas, Balázs Németh, and Péter Gáspár

Payload Estimation in Excavators Using a Machine LearningBased Parameter Identification Method . . . . . . . . . . . . . . . . . . . . . . . . . 1670Ashwin Walawalkar, Steffen Heep, Martin Frank, and Christian Schindler

Road: Suspension and Ride Analysis

A Comparison of Different Mathematical Bus Dynamics Modelsto Evaluate Road Roughness and Ride Comfort . . . . . . . . . . . . . . . . . . 1683Teron Nguyen, Patrick Swolana, Bernhard Lechner, and Yiik Diew Wong

Design of a Multi-link Suspension for Motorcycles with a Sidecar . . . . . 1691Jakub Tobolář

Quantification of Infant Car Seat Vibration over a Mission Profile . . . . 1698Moniqué van der Westhuizen, Cor-Jacques Kat, and Schalk Els

Realization of Adjustable Damping Characteristic Basedon a Magnetorheological Damper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1706Zhifei Zhang, Hongwei Lu, Zhongming Xu, and Yansong He

Preliminary Selection and Parameter Optimization of NonlinearParallel Suspension Based on Vehicle Ride Comfort . . . . . . . . . . . . . . . 1715Zhiwei Zhang, Tongli Lu, and Hua Jiang

xxvi Contents

Effect of Tyre Pressure on Ride Comfort from an IntegratedChassis Control Perspective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1723Cor-Jacques Kat and Pieter Schalk Els

Sensitivity Analysis of Vehicle Handling and Ride Comfortwith Respect to Roll Centers Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1730Georgios Papaioannou, Christian Gauci, Efstathios Velenis,and Dimitrios Koulocheris

Influence of Driver Muscle Tension on His Ride Comfort . . . . . . . . . . . 1740Michael Valasek

A Novel Switchable Suspension Inspired by Duffing Oscillator . . . . . . . 1745Qiang Chen, Yong Zhang, Jiaqi Zhao, Zhanshuai Song, and Ye Zhuang

Comfort Improvement of an Adaptive Vehicle Suspensionvia Pointwise-Constrained Optimal Control . . . . . . . . . . . . . . . . . . . . . . 1754Eduardo Palomares, Miguel Felix, Angel L. Morales, Antonio J. Nieto,Jose M. Chicharro, and Publio Pintado

Model-Based Investigation of the Influence of Wheel SuspensionCharacteristics on Tire Wear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1760Jan Schütte and Walter Sextro

Model-Based Estimation of Damper Excitations and VelocitiesDue to Road Surface Irregularities with Focus on Ride Comfort . . . . . . 1771David Benz and Peter E. Pfeffer

Capturing Brake Groan Using Multibody Quarter Car Model . . . . . . . 1778Avijit Chauhan and Patrick Sabiniarz

Identification of Kinematic Points Based on KnC Measurementsfrom the Suspension Motion Simulator . . . . . . . . . . . . . . . . . . . . . . . . . 1786Chao Liu, Yi Zhang, Clemens Deubel, Felix Kocksch, Jan Kubenz,and Günther Prokop

Posture Control of All Terrain Mobile Robot with VibrationIsolation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1794Fangwu Ma, Liwei Ni, Lulu Wei, Jiahong Nie, Liang Wu, and Weiwei Jia

Comparative Performance Analysis of Active and Semi-activeSuspensions with Road Preview Control . . . . . . . . . . . . . . . . . . . . . . . . 1808Ivan Cvok, Joško Deur, H. Eric Tseng, and Davor Hrovat

A New Generic Model for Adaptive Shock Absorbers . . . . . . . . . . . . . . 1819Niklas Kunz and Steffen Müller

Analysis of Active Suspension Performance ImprovementBased on Introducing Front/Rear LQ Control Coupling . . . . . . . . . . . . 1829Ivan Cvok, Joško Deur, H. Eric Tseng, and Davor Hrovat

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Development of a Cab Suspension for a 4 � 2 Semi-truck . . . . . . . . . . . 1840Uğur Deryal, Ezgi Zeynep Sarıkaya, and Mehmet Murat Topaç

A Novel Approach for Parametrization of Suspension Kinematics . . . . . 1848Georg Rill and Abel Arrieta Castro

Road: Tyre Modelling

Influence of the Speed-Dependent Tire-Road Frictionon the Car Drifting Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1861Ye Zhuang, Zhanshuai Song, Qiang Chen, Jiaqi Zhao, and Konghui Guo

Full-Field Strain Measurement of the Contact Patchvia the Inside Tyre Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1870Megan S. Pegram, Theunis R. Botha, and P. Schalk Els

Nonlinear Modeling of Truck-Semitrailer Lateral DynamicsIncluding Experimental Validation of Lateral Tire Forces . . . . . . . . . . . 1879Zygimantas Ziaukas, Jan-Philipp Kobler, Alexander Busch,Mark Wielitzka, and Tobias Ortmaier

Experimental Investigation and Semi-physical Modellingof the Influence of Rotational Speed on the Vertical Tyre Stiffnessand Tyre Radii . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1889Martin Schabauer, Andreas Hackl, Wolfgang Hirschberg,and Cornelia Lex

Predicting Tyre Behaviour on Different Road Surfaces . . . . . . . . . . . . . 1899Alex O’Neill, Patrick Gruber, John F. Watts, and Jan Prins

A Grey Box Model Approach for the Predictionof Tire Energy Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1909Michael Burger and Stefan Steidel

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1919

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