The Dynamics of Vehicles on Roads and Tracks: Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015), Graz, Austria, 17-21 August 2015, 1st Edition (Hardback) book cover

The Dynamics of Vehicles on Roads and Tracks

Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015), Graz, Austria, 17-21 August 2015, 1st Edition

Edited by Martin Rosenberger, Manfred Plöchl, Klaus Six, Johannes Edelmann

CRC Press

1,626 pages

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The IAVSD Symposium is the leading international conference in the field of ground vehicle dynamics, bringing together scientists and engineers from academia and industry. The biennial IAVSD symposia have been held in internationally renowned locations. In 2015 the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD) was held in Graz, Austria, from 17th to 21st of August 2015. The symposium was hosted by VIRTUAL VEHICLE Research Center, in cooperation with the Graz and Vienna Universities of Technology, and the industrial partners AVL, Magna Steyr, and Siemens.

170 papers (oral and poster presentations) were presented at the symposium and the papers are now published in these proceedings. The papers review the latest research developments and practical applications in highly relevant areas of vehicle dynamics on roads and tracks, and may serve as a reference for researchers and engineers active in the field of vehicle system dynamics.

Table of Contents


IAVSD 2015 Committees



Fundamental study on ideal longitudinal control for improved dynamical handling characteristics

M. Yamakado, M. Abe & Y. Kano

Component based modeling and validation of a steering system for a commercial vehicle

J. Loof, I. Besselink & H. Nijmeijer

Robust design of road vehicle suspensions using fuzzy methods

W. Schiehlen, M. Hanss & I. Iroz

Evaluation of chassis control algorithms using controllability region analysis

S. Horiuchi

Influence of body stiffness on vehicle dynamics characteristics

O. Danielsson, A. González Cocaña, K. Ekström, M. Bayani Khaknejad, M. Klomp & R. Dekker

Development of a novel model of driver-vehicle steering control incorporating sensory dynamics

C.J. Nash & D.J. Cole

A speed control race driver model with on-line driving trajectory planning

Y. Koh, K. Yi, H. Her & K. Kim

Optimization of driver and chassis of FWD racing car for faster cornering

M. Maniowski

Coordinated braking control for In-Wheel-Motor-Driven Electric Vehicles with regenerative and antilock braking system based on control allocation

X. Jin & G. Yin

The effect on power consumption & handling of efficiency-driven active torque distribution in a four wheeled vehicle

G. Parker, J. Griffin & A. Popov

Optimal yaw-rate target for electric vehicle torque vectoring system

E.N. Smith, D. Tavernini, C. Claret, E. Velenis & D. Cao

Effects of different excitation spectra on virtual suspension damper design

F. Klinger, J. Edelmann, M. Plöchl & S. Jeindl

Farm tractor ride comfort assessment

M. Gobbi, G. Mastinu, M. Pennati & G. Previati

A study of semi-active suspension with tuned mass damper

Y. Zhuang, S. Nie & K. Guo

Experimental implementation of a fault handling strategy for electric vehicles with individual-wheel drives

D. Wanner, M. Nybacka, O. Wallmark, L. Drugge & A. Stensson Trigell

Front-to-rear torque vectoring Model Predictive Control for terminal understeer mitigation

E. Siampis, E. Velenis & S. Longo

Stability of towed wheels in cornering manoeuvre

H. Sykora & D. Takács

Stability investigation of car-trailer combinations depending on damper properties

N. Zhang, Z.J. Shao, H. Xiao & H. Winner

Wave-based control for intelligent longitudinal traffic column

M. Valášek, Z. Neusser & T. Gordon

Vehicle motion planning and control for autonomous driving intelligence system based on risk potential optimization framework

P. Raksincharoensak, T. Hasegawa, A. Yamasaki, H. Mouri & M. Nagai

Autonomous vehicle controlled by safety path planner with collision risk estimation coupled with a non-linear MPC

S. Arrigoni, F. Cheli, S.S. Manazza, P. Gottardis, R. Happee, M. Arat & D. Kotiadis

A study of motorcycle chatter vibration with multibody models of increasing complexity

L. Leonelli, N. Mancinelli & S. Sorrentino

Design of an active tilting three-wheeler: Optimization of the dynamic performances via multibody simulations

A. Verlé & P. Fisette

Experimental evaluation of collision avoidance system using state dependent Riccati equation technique

M. Alirezaei, S.T.H. Jansen & J.M. Janssen

A novel approach for a collision avoiding lane change system in a dynamic traffic environment

S. Samiee, A. Eichberger, S. Azadi & R. Kazemi

The trade-off between distance margin and steering intrusiveness in obstacle avoidance manoeuvres with oncoming traffic

A. Arikere, M. Lidberg & G. Olsson

Multi-domain modelling of a new wheel rotational kinematics sensor

J.P. Gray, J.R. Paldan & V.V. Vantsevich

Study on automobile tire sensing by Quasi-Electrostatic Field technology

K. Kouno, K. Takiguchi, Y. Suda, S. Mizuno, Y. Kitagawa, S. Yamabe, N. Masaki & T. Hayashi

Studying road roughness effect on rolling resistance using brush tyre model and self-affine fractal surfaces

K. Yoshimura, M.M. Davari, L. Drugge, J. Jerrelind & A. Stensson Trigell

An autonomous safety system for road departure prevention based on combined path and sideslip control

Y. Gao, T. Gordon, M. Lidberg & M. Klomp

Accelerated evaluation of automated vehicles using extracted naturalistic driving data

D. Zhao, H. Peng, S. Bao, K. Nobukawa, D.J. LeBlanc & C.S. Pan

Experimental evaluation of the controllability of interacting advanced driver assistance systems

O. Schädler, S. Müller & M. Gründl

Extremum seeking control of a pneumatic braking system for heavy vehicles

G. Morrison & D. Cebon

Path-dependent rollover prevention for critical truck maneuvers

K. Lundahl, C.F. Lee, E. Frisk & L. Nielsen

Application of linear slosh theory on stability of the B-train combinations

I. Hazrati Ashtiani, A. Kolaei, M. Abedi & S. Rakheja

Hardware-in-the-loop system for electro-pneumatic brake systems of commercial vehicles

F. Bauer, A. Lion, S. Litter & E. Topčagić

Combined effect of electronic stability control and active tilting control based on full-car nonlinear model

I. Youn, E. Youn, M.A. Khan, L.Wu & M. Tomizuka

Integrated vehicle dynamic control using composite nonlinear feedback method for independent wheel drive electric vehicle

M.H.M. Ariff, H. Zamzuri, N.R.N. Idris & A.M.A. Mustafa

Integrated attitude motion and lateral stability control of a vehicle via active suspension and rear-wheel steering control system

L.Wu, I. Youn & M. Tomizuka

Nonlinear analysis of actuator interventions using robust controlled invariant sets

P. Gáspár & B. Németh

Experimental evaluation of unknown input observers for tire model parameter estimation

R. Tafner, M. Reichhartinger & M. Horn

Identification of tire cornering stiffness in lane changes using Dual Kalman filter

S. Lee, K. Nakano, M. Ohori & R. Zheng

Identification method of longitudinal tyre characteristics based on real road driving

A. Kerschbaumer,W. Hirschberg & D. Prezel

An investigation into design and simulation strategies for the extension of vehicle dynamics linearity

A.U. Qazi, M. Blundell, G.Wood & G. Chrysakis

Steering HILS system with multibody kinematics model considering suspension compliance steer

M. Tsushima, K. Morihara & T. Shiiba

Analysis of vehicle dynamics and vibrations of a vehicle with a 2-cylinder engine

W. Reinalter, M. Mittermaier, T. Sato & A. Kobayashi

Experimental validation of a non-linear first-order tyre dynamics approach

A. Hackl,W. Hirschberg, C. Lex & G. Rill

Experimental study on velocity and temperature dependency of rubber-asphalt friction

J. Kärkimaa & A.J. Tuononen

Body attitude state estimation using wheel rolling speed variations and application in driving torque control

Y. Liu, J. Hozumi, M. Morita & A. Higuchi

Active brake force distribution for pitch angle minimisation

D. Tavernini, E. Velenis & F. Assadian

Vehicle stability self-tuning control strategy based on joint criterion

Z. Yu, B. Leng, L. Xiong & Y. Feng

Development of a road surface friction estimation for actual road

Y. Shiozawa, P. Raksincharoensak & H. Mouri

Identification of tyre characteristics using active force excitation

A. Albinsson, F. Bruzelius, B. Jacobson, T. Gustafsson & M. Jonasson

Friction estimation at tyre–ground contact based on the Gough-plot for safe autonomous vehicles

G. Previati, M. Gobbi, G. Mastinu, S. Dell’Agostino, J. Edelmann & M. Plöchl

Virtual brake software release

S. Angelis, A. Johnsson, M. Klomp, R. Hansson & D. Katzourakis

Model-based traction control with friction adaption for preventing drive-train vibration during the power-hop acceleration process of front-wheel drive vehicles

D. Killian, J.M. Georg, S. Poltersdorf & M. Lienkamp

Upright mounted pushrod: the effects on racecar handling dynamics

F.P. Marchesin, R.S. Barbosa, M.A.L. Alves, M. Gadola, D. Chindamo & C. Benini

The significance of high-order dynamics in lap time simulations

R. Lot & N. Dal Bianco

The unification of acceleration envelope and driveability concepts

I.G. Salisbury, D.J.N. Limebeer, A. Tremlett & M. Massaro

Optimized roll behavior and ride comfort based on central roll torque distribution on electromechanical anti-roll bars and semiactive dampers and approaches on subjective-objective correlation

A.M. Wenzelis, M. Lienkamp & R. Schwarz

Damping control to enhance transient cornering feeling using Kalman filter

H. Sakai

Design and validation of the second generation of the ROboMObil’s Vehicle Dynamics Controller

R. de Castro, T. Bünte & J. Brembeck

Wheel motion control using a hybrid actuator system

M. Ringdorfer & M. Horn

Optimal control and construction design of variable-geometry suspension systems

B. Németh & P. Gáspár

An integrated control of front/rear traction distribution and differential braking for limit handling

E. Joa, K. Yi & K. Kim

Robust handling performance against weight variation focused on transient region

T. Hosono, K. Takekoshi & T. Shiiba

Stability analysis of the car-trailer system with a time-delayed tyre model

S. Beregi, D. Takács, G. Stépán & D.A.W. Barton

Passive suspension incorporating inerters for reduction in road damage caused by heavy vehicles

J.Z. Jiang, X. Liu, A.J. Harrison & X. Na

Driving condition identification based on HHMM model – Application to the simulation of heavy duty vehicle

T. Zhu, A. Khajepour, C. Zong, L. Mai & H. Deng

MPC-based framework for autonomous ground vehicles in a complex environment

S. Arrigoni & F. Cheli

Integrated design and simulation of a direct drive, electric shuttle vehicle

L. Pugi, B. Allotta, M. Cipriani, M. Pratesi, A. Bartolomei & F. Grasso

Comparative evaluation of energy efficiency of electrical vehicle powertrain configurations

J. Tobolář, R. de Castro, U. Bleck, C. Satzger, J. Brembeck & Y. Hirano

Estimation of vehicle yaw moment of inertia in dynamic road test using Wheel Force Sensor

Y.Wang & H.Winner

Identification of a nonlinear full-vehicle model for semi-active damper controller synthesis

M. Fleps-Dezasse & J. Tobolář

Model-based integrated control with vehicle states and parameters estimation

H. Lu, Y. Shi, F. Yu & D. He

On-board determination of the friction coefficient between tire and road using standard-application vehicle dynamics sensors

C. Lex, A. Eichberger & W. Hirschberg

Analysis of the effect of tire inflation pressure on tire road interaction during braking

K. Höpping, K. Augsburg, K. Hutengs, G. Dherbomez, B.Wang, A. Victorino & A. Charara

Physical tire model based on understanding of separate components of tire deformation

P. Sarkisov, G. Prokop, G. Gladov & S. Popov

Analysing vehicle dynamics objective and subjective testing in winter conditions

G.L. Gil Gómez, E. Bakker, M. Nybacka & L. Drugge

The importance of yaw motion feedback in driving simulators

A. Kusachov, F. Bruzelius & X. Xie

A high fidelity driving feeling real-time dynamic steering system model

X. Guan, C. Duan, L. Zheng, J. Zhan, L. Tian & H. Bao

System to detect decrease in driver’s lane-keeping ability within several seconds by inverse driver model

H. Sakai

Visualization of driver’s body motion by instantaneous screw axis and line of action

M. Hada, T. Yamaguchi & Y. Hattori

An intelligent traction control for motorcycles

P. Urda, J.A. Cabrera, J.J. Castillo & A.J. Guerra


Dynamic gauging assessment using multi-body simulation – investigation of the effect of the track & the operating conditions

J. Causse, L. Pommier, S. Kraft, P. Dupont & F. Coudert

Pneumatic anti-roll systems for railway secondary suspensions

N. Docquier & J.-F. Collard

Robust evaluation of rail damage and track forces using representative load collectives

B.A. Pålsson

Assessing the role of longitudinal variability of vertical track stiffness in the long-term deterioration

I. Grossoni, A.R. Andrade & Y. Bezin

An efficient condition monitoring strategy of railway vehicle suspension based on recursive least-square algorithm

X.Y. Liu, S. Alfi & S. Bruni

Comparison of wear prediction models for different contact conditions

C. Casanueva, R. Enblom & M. Berg

Scenario based development of a wheel profile using numerical optimization

M. Alb, J. Zernig, H.-P. Kotz & W.Wang

Development of self-contained active suspensions for railway vehicles

T.X. Mei, P.Wang, J.Y. Zhang & H. Li

Mechatronic bogie for roller rig tests

J. Kalivoda & P. Bauer

Control development for the scaled experimental railway running gear of DLR

A. Heckmann, C. Schwarz, T. Bünte, A. Keck & J. Brembeck

Research on aerodynamic experiment and dynamic performance of new developed V500 pantograph at 400 km/h or higher

G. Mei, J.Wang, C. Zhao, Y. Jiang, D. Zou, R. Li, Z. Chen, M. Chen, J. Li, D. Song, N. Zhou & W. Zhang

Possible speed increase on soft catenary system with help of auxiliary pantograph

Z.D. Liu, P.-A. Jönsson, S. Stichel & A. Rønnquist

Loss of stability in a nonsmooth model of dual-point rolling

M. Antali & G. Stépán

Advances in studying non-linear phenomena in railway transition curve at velocities around the critical one

K. Zboinski & M. Golofit-Stawinska

Operational modal analysis of an overall carbody based on excitation due to electric transformer

H. Li, X.Wang, J.C. Zou,W. Xue & L.M. Zhang

Multimodal reduction of flexural vibration in railway vehicle carbody using elastic torus

T. Tomioka, S. Tachikawa & Y. Akiyama

Modelling of rubber components using estimated parameters

O. Polach

Modelling issues in passenger draft gear connections

C. Cole, M. Spiryagin, Q.Wu & C. Bosomworth

Study on modelling and control methods of air spring in railway vehicles

H.X. Gao, M.R. Chi,W.H. Zhang, M.H. Zhu, J. Zeng & P.B. Wu

A wheel-rail creep force model considering normal stress and temperature dependent plasticity effects

A. Meierhofer, G. Müller, K. Six & P. Dietmaier

Effect of elasto-plasticity on the creep force characteristics and the railway vehicle stability

M. Toumi, H. Chollet & H. Yin

Co-simulation of tilting trains in Simpack–Simulink

N. Kuka, C. Ariaudo & R. Verardi

Illustrating the implications of choices at the vehicle model building stage in simulation results

M. Aizpun & J. Vinolas

Advancements in three-piece freight bogies for increasing axle load up to 27 t

A.M. Orlova, A.V. Saidova, E.A. Rudakova, A.N. Komarova & A.V. Gusev

Control re-configuration for actively steered wheelsets in the event of actuator failure

M. Mirzapour & T.X. Mei

Railway bogie stability control from secondary yaw actuators

R.M. Goodall, C.P.Ward, D. Prandi & S. Bruni

Modelling of a passive hydraulic steering for locomotives

T.P. Löwe, P.S. Els & C. Kat

Dynamic model of the track-railway vehicle interaction on curves

J. Martínez-Casas, L. Baeza, E. Di Gialleonardo & S. Bruni

Analysis of high speed rotating flexible wheelset-flexible track coupled dynamics

Z. Lu, Z. Yang,W. Liu & B. Zhang

How structural flexibilities of both wheelsets and rails affect the typical running behaviour compared to contact geometry and friction variations

I. Kaiser & J. Vinolas

Characterization of the evolution of the train dynamic response under the effect of track irregularities

N. Lestoille, C. Soize & C. Funfschilling

Development of track condition monitoring system for conventional railways

H. Tsunashima, H. Mori, M. Ogino, S. Azami & A. Asano

A stochastic model of the railway track geometry

A.M. Panunzio, G. Puel, R. Cottereau & X. Quost

An approach for the classification of track geometry defects

S. Kraft, J. Causse & F. Coudert

An application of the interactive multiple model to the measurement of wheel-rail contact forces

S. Bionda, E. Di Gialleonardo, G. Cazzulani & F. Braghin

An efficient numerical simulation method for vertical vehicle-track dynamic interactions using the nonlinear Hertzian contact spring

Y. Kawasaki & A. Yoshimura

Impact of wheel shape on the vertical damage of cast crossing panels in turnouts

Y. Bezin, I. Grossoni & S. Neves

Improvement of train-track interaction in transition zones via reduction of ballast damage

H.Wang, V.L. Markine, R.P.B.J. Dollevoet & I.Y. Shevtsov

Sensitivity analysis: Main parameters causing wear and rolling contact fatigue in wheel-rail contact

C. Marte, G. Trummer, A. Aichmayr, P. Dietmaier & K. Six

A multi-scale modelling strategy to model the rail rolling contact fatigue

C. Funfschilling & M.L. Nguyen-Tajan

Influence of wheel and rail profile shape on the initiation of rolling contact fatigue cracks at high axle loads

U. Spangenberg, R.D. Fröhling & P.S. Els

Coupled simulation of vehicle dynamics and aerodynamics

M. Hidai, K. Goda, K. Iwasaki & T. Watanabe

Experimental-numerical evaluation of crosswind effect on high-speed freight train and its payload

E. Di Gialleonardo, S. Melzi, G. Tomasini & F. Resta

Study on application of big data analytics of running records in railway systems

S. Lin, K. Kimoto, Y. Suda, A. Iwamoto, T. Saito, K. Yano, M. Mizuno, M. Tanimoto & K. Nagasawa

Temporal subtraction processing of derailment coefficient collected with the monitoring bogie

Y. Michitsuji, A. Matsumoto, Y. Sato, H. Ohno, H. Mori, A. Iwamoto, T. Fukushima, K. Yano, D. Shinagawa, M. Tanimoto & K. Nagasawa

Robustness and performance investigation of railway weigh in motion algorithms respect to parametric and random uncertainties

P. D’Adamio, L. Pugi, E. Meli, A. Innocenti, L. Marini & A. Rindi

Simulation approach for wheel wear of locomotives under winter conditions

S. Urban, M. Beitelschmidt & B. Peters

Rail corrugation growth in curves – friction management as a sustainable solution

M. Beck, R. Stock & B. Temple

Top of rail friction modifier application scenarios and wheel-rail interaction forces

H. Wu & N. Wilson

Study on curving performance of heavy haul train under braking condition

L. Yang, S. Luo, Q.Wu & M. Fu

Study on heavy haul locomotive behaviour under a bogie traction control strategy with the presence of wheel diameter difference within a bogie

M. Spiryagin, P.Wolfs, C. Cole, Y.Q. Sun & F. Szanto

Adaptive algorithm of active railway safety system for smooth and precise braking

M. Gorobetz, A. Potapovs & A. Levchenkov

Vertical dynamic vehicle–track interaction in a railway crossing predicted by moving Green’s functions

X. Li, P.T. Torstensson & J.C.O. Nielsen

Heavy point frog performance under passenger vehicles

A.M. Rakoczy, X. Shu, D.D. Davis, D. Li & A. Tajaddini

Dynamic finite element model-impact force and contact pressure for measured geometries of fixed crossings

M. Pletz, U. Ossberger, H. Ossberger & W. Daves

Towards realistic load assumption of bogie equipment

C. Wesseler & S. Schneider

Calculation of moving Green functions for high-speed railway tracks

X. Sheng & X. Xiao

Adaptation of the semi-Hertzian method to wheel/rail contact in turnouts

M. Sebès, H. Chollet, E. Monteiro, M. Laurent & C. Muller

An alternative to FASTSIM for tangential solution of the wheel-rail contact

M.Sh. Sichani, R. Enblom & M. Berg

Running dynamics of railway vehicles equipped with torsionally flexible axles and partially independently rotating wheels

A. Bracciali & G. Megna

Dynamic model and performance of Translohr tram on simplifying guiding wheel/rail contact as multi-unilateral springs

Y. Ji, L. Ren & Q. Liang

On the influence of operational conditions on the design load calculation for railway vehicle bogies

F. Schöler, C. Moser & B. Corves

Methodology for optimisation of draft gear design using Particle Swarm Optimisation

Q. Wu, C. Cole & M. Spiryagin

Modelling and simulation of trams bogies with fully independently rotating wheels

A. Chudzikiewicz & B. Sowinski

A new kind of tramcar based on virtual tracks and its dynamic performances

P. Han, W. Zhang & C. Yang

A novel modular measurement system for the development of light rail vehicles

C. Telke, V. Quarz, M. Beitelschmidt & A. Schulz

Development of a new running gear for the Spectrum intermodal vehicle

P. Shackleton, Y. Bezin, D. Crosbee, P. Molyneux-Berry & A. Kaushal

Nonlinear optimal specification of a locomotive axle-box hydraulic damper for vibration reduction and track-friendliness

W.L. Wang, D.S. Yu & S. Iwnicki

Effect of under-chassis equipment on railway vehicle car body frequency and its suspension parameter optimization

D. Gong, W. Sun, J. Zhou, S. Du & Y. Sun

Energy efficiency of freight wagons and influence of their oscillations on rolling resistance

Yu.P. Boronenko, A.N. Komarova & Yu.S. Romen

Study on dynamics of lightweight railway vehicle with different coefficients of friction in wet condition

S. Lin, Y. Takino, Y. Suda, M. Hashimoto, D. Nakano, A. Tanimoto & M. Kageyama

Damping characterization of a high speed train catenary

O. Vo Van, E. Balmes & X. Lorang

Dynamic stress prediction in catenary wires for fatigue analysis

J.P. Bianchi, E. Balmes & M.-L. Nguyen-Tajan

Finite element study of wheel-rail conformal rolling contact

J. Blanco-Lorenzo, J. Santamaria, E.G. Vadillo & N. Correa

Study on dynamic derailment criteria for high speed train

X. Mao & G. Shen

Investigation on wheel/rail dynamic interaction in heavy-haul railway line with hanging sleepers

D.W. Zhang, W.M. Zhai, K.Y. Wang & P.F. Liu

Train-overturned derailments due to excessive speed – Analysis and countermeasures

A. Matsumoto, Y. Michitsuji & K. Tanifuji

Systematic simulation study of the derailment risk of freight wagons by different periodical rail irregularities based on two accidents

R. Naumann, S. Müller & F. Wolther

Effects of wheelset flexibility on the simulation of vehicle-track interaction at crossings

C. Shen, Z.Wei, N. Burgelman, R. Dollevoet & Z. Li

Derailment simulation on a passenger train at level crossing due to lateral collision with a heavy road vehicle

Y.Q. Sun, C. Cole, M. Spiryagin, M. Dhanasekar & D.P. Thambiratnam

Study on improved sign detection system of flange-climb derailment with real-scale experiment

M. Sakamoto, S.-P. Lin, Y. Suda, M. Kageyama, S. Koga, T. Kunimi & T. Kawanabe

Analysis approach of turnout crossing performance by field measurements and finite element modeling

L. Xin, V.L. Markine & I.Y. Shevtsov

Performance study of a double crossover for facing and trailing directions

X. Liu, V.L. Markine & I.Y. Shevtsov

Rail surface crack initiation analysis using multi-scale coupling approach

Y. Ma, V.L. Markine & A.A. Mashal

Author index

Subject Categories

BISAC Subject Codes/Headings:
TECHNOLOGY & ENGINEERING / Industrial Design / General