Calculating cornering stiffness (ability for tyre to retain shape when corning, slope of curve for lateral force against tyre side-slip angle) based on received lateral acceleration and steering angle sensor data, predicting a lateral velocity based on the cornering stiffness, and generating a set of vehicle state variables by inputting lateral velocity to a recursive filter. The cornering stiffness may be updated periodically based on the set of vehicle state variables, and in turn lateral velocity and the vehicle state variable sets iteratively. The cornering stiffness may comprise a front and a rear cornering stiffness; lateral velocity may be calculated using a kinematic bicycle model and/or GPS. Vehicle state variables may be outputted to a control, planning, localisation, or prediction system to control the movement of the vehicle. Bias removal may be performed on sensor data. Vehicle velocity, lateral force and normal force may be used to calculate cornering stiffness.


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    Titel :

    Vehicle state estimation augmenting sensor data for vehicle control and autonomous driving


    Beteiligte:
    AHMED H EL-SHAER (Autor:in) / YIMENG DONG (Autor:in) / LUDONG SUN (Autor:in)

    Erscheinungsdatum :

    2023-07-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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