Accurate measurements from sensors measuring the vehicle's lateral behavior are vital in todays vehicle dynamic control systems such as the Electronic Stability Program (ESP). This thesis concerns accurate plausibilisation of two of these sensors, namely the yaw rate sensor and the lateral acceleration sensor. The estimation is based on Kalman filtering and culminates in the use of a 2 degree-of-freedom nonlinear two-track model describing the vehicle lateral dynamics. The unknown and time-varying cornering stiffnesses are adapted while the unknown yaw moment of inertia is estimated. The Kalman filter transforms the measured signals into a sequence of residuals that are then investigated with the aid of various change detection methods such as the CuSum algorithm. An investigation into the area of adaptive thresholding has also been made. The change detection methods investigated successfully detects faults in both the yaw rate and the lateral acceleration sensor. It it also shown that adaptive thresholding can be used to improve the diagnosis system. All of the results have been evaluated on-line in a prototype vehicle with real-time fault injection.


    Access

    Download


    Export, share and cite



    Title :

    Yaw Rate and Lateral Acceleration Sensor Plausibilisation in an Active Front Steering Vehicle


    Contributors:

    Publication date :

    2007-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Improvement of Vehicle Lateral Dynamics by Active Front Steering Control

    Faizz, A. / Selim, A. M. / Crolla, D. A. et al. | SAE Technical Papers | 2004


    Improvement of vehicle lateral dynamics by active front steering control

    Oraby,W.A. / El-Demerdash,S.M. / Selim,A.M. et al. | Automotive engineering | 2004


    Improvement of Vehicle Lateral Dynamics by Active Front Steering Control

    Oraby, W. A. H. / El-Demerdash, S. M. / Selim, A. M. et al. | British Library Conference Proceedings | 2004


    Improvement of Vehicle Lateral Dynamics by Active Front Steering Control

    Oraby, W. A. H. / El-Demerdash, S. M. / Selim, A. M. et al. | British Library Conference Proceedings | 2004