Back to Search
Start Over
Design and Experimental Validation of a Stable Two-Stage Estimator for Automotive Sideslip Angle and Tire Parameters
- Source :
- IEEE Transactions on Vehicular Technology. 66:9727-9742
- Publication Year :
- 2017
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2017.
-
Abstract
- © 1967-2012 IEEE. This paper proposes and experimentally validates a two-stage approach for coupled lateral vehicle state and tire model estimation. In a first stage, an extended Kalman filter is employed which provides vehicle slip angles and lateral tire forces from commercial low-cost vehicle sensors. The obtained estimates are exploited in the second stage, where a (quasi-static) tire model is fitted to this data. A major issue in this estimation process is the typical instability of these estimators for situations with (prolonged) straight driving. This issue is traced back to a lack of local observability. The use of a variable model covariance is introduced as a practical method to obtain a stable estimator, irrespective of the unobservability. The developed methodology has a low computational load and the Kalman estimator is able to run in real time, whereas the tire model parameter fitting is cheap enough to run online. The proposed methodology is validated experimentally and provides reliable results in variable driving conditions. ispartof: IEEE Transactions on Vehicular Technology vol:66 issue:11 pages:9727-9742 status: published
- Subjects :
- 0209 industrial biotechnology
Engineering
tire model
Computer Networks and Communications
MBSE
Automotive industry
Aerospace Engineering
02 engineering and technology
Vehicle dynamics
Extended Kalman filter
020901 industrial engineering & automation
IOF
0203 mechanical engineering
Control theory
PDmandaat_Frank
FM_affiliated
Observability
Electrical and Electronic Engineering
Slip (aerodynamics)
business.industry
stable estimation
Estimator
020302 automobile design & engineering
Kalman filter
Covariance
sideslip angle
Automotive Engineering
DYSCO
business
Subjects
Details
- ISSN :
- 19399359, 00189545, and 19672012
- Volume :
- 66
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Vehicular Technology
- Accession number :
- edsair.doi.dedup.....59b9d8d4f33ef73c67217925c20a5588