Onesto, Luca (Politecnico di Milano), Corno, Matteo (Politecnico di Milano), Savaresi, Sergio (Politecnico di Milano)

Pitch Dynamics Analysis for an Agricultural Tractor with Image Processing Validation through an Off-Board Camera

Scheduled for presentation during the Regular Session "Advanced Control for Particulars Vehicles" (WeBT1), Wednesday, June 26, 2019, 16:30−16:50, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on May 8, 2024

Abstract

This work proposes an analysis of the pitch dynamics of a heavy-duty vehicle, namely an agricultural tractor. Considering maneuvers performed on a flat-asphalt surface, the analysis is performed through an image processing approach. The analysis focuses on the cabin displacement and on the vehicle body displacement. Moreover, the tires compression and the vehicle longitudinal slip are evaluated. The analysis shows how the cabin and the body displacements change in function of the vehicle longitudinal acceleration and how, due to the tires compression, the cabin and the body can oscillate, at the end of a braking maneuver. The results are used to evaluate the feasibility of a road gradient estimator based on the inertial measurement of a mono axial accelerometer installed in the cabin. In particular, the cabin displacement needs to be considered and an additional sensor which measures the cabin speed is required to avoid a drop of performance.