A Vehicle Lateral Motion Control Based on Tire Cornering Stiffness Estimation Using In-Wheel Motors
Round 1
Reviewer 1 Report
The paper "A Vehicle Lateral Motion Control Based on Tire Cornering Stiffness Estimation Using In-Wheel Motors" presents a new algorithm which can be used to control in-wheel motor vehicles.
The language of the paper is good in grammar and readibility.
The article is very interesting and valuable.
There are, however, few minor issues which could easily be corrected.
See some detailed examples below.
line 27: "that vehicle."
Bad sentence.
Figure 6: check the width of the rectangles
Table 1: 14 rad^-1 vs 14 1/rad why use different way?
Using vectorgraphic format for the figures could improve quality.
line 294: "the existing control algorithm" - Is that in singular? Is it sure that only one such control algorithm exists?
Author Response
line 27: "that vehicle."
Bad sentence.
A) This wrong sentence has been deleted in the revised manuscript.
Figure 6: check the width of the rectangles
A) Figure 6 has been modified in the revised manuscript.
Table 1: 14 rad^-1 vs 14 1/rad why use different way?
A) Sorry for this typo. The unit in Table 1 has been modified in the revised manuscript.
Using vectorgraphic format for the figures could improve quality.
A) Thank you for your comment. However, since the figure is output through Matlab figure, please understand that it is difficult to use vectorgraphic.
line 294: "the existing control algorithm" - Is that in singular? Is it sure that only one such control algorithm exists?
A) This wrong expression has been changed as follows : “the existing control algorithm” --> “the conventional PID control algorithm”
Reviewer 2 Report
- Not all terms in the equations are explained; even though some are part of the bicycle model, these should also be clearly explained in the body text
- The model employed in this research is the bicycle one – are there used any real-life parameters in the simulation? For example, some measured parameters – such as wheels longitudinal, or lateral slip in cornering, and their possible influence on the model behavior? Do you intend to perform such activities in the future?
- Improving a little the references list would give a plus to the quality of the article.
- I also recommend improvement of the Conclusion section, where you could present some possible influence of your findings on already working systems in cars, such as ESP, ABS or TCS.
Author Response
- Not all terms in the equations are explained; even though some are part of the bicycle model, these should also be clearly explained in the body text
A) Thank you for your insightful comment. The detailed description of the bicycle model has been added in the revised manuscript.
Line 90~95 : “The vehicle bicycle model assumes that left and right wheels are lumped together into a single wheel [15]. In this paper, Fig. 1 represents a vehicle bicycle model. Since it is assumed that the wheel is located on the center line, the concentrated tire lateral forces and are expressed in the front and rear tire coordinate systems, respectively. Also, this vehicle bicycle model assumes that the vehicle motion is restricted to the plane and there is no vertical movement.”
- The model employed in this research is the bicycle one – are there used any real-life parameters in the simulation? For example, some measured parameters – such as wheels longitudinal, or lateral slip in cornering, and their possible influence on the model behavior? Do you intend to perform such activities in the future?
A) The tire-related parameters in the bicycle model are estimated in real time by the vehicle state estimator [4] (as shown in Fig. 3). There are the vehicle mass , length , and moment of inertia used as constant values. Research on improving control accuracy by combination with real-time estimation algorithms of vehicle mass and length in the future.
Line 128~130 : “Here, vehicle parameters , , and are used as constant values. Research on improving control accuracy by combination with real-time estimation algorithms of , , and in the future.”
- Improving a little the references list would give a plus to the quality of the article.
A) I agree your advice. The new reference [25] has been added in the revised manuscript.
- I also recommend improvement of the Conclusion section, where you could present some possible influence of your findings on already working systems in cars, such as ESP, ABS or TCS.
A) Thank you for your comment. Following your advise, the conclusion section has been improved in the revised manuscript.
Line 304~307 : “Also, the proposed mode-based control technique is fully applicable to the development of other chassis logics such as electronic stability control system, anti-lock braking system, and traction control system."
