A system for controlling a vehicle by jointly estimating a state of a vehicle and a function of a tire friction of a vehicle traveling on a road uses a particle filter maintaining a set of particles. Each particle includes an estimation of a state of the vehicle, an estimation of probability density function (pdf) of the tire friction function, and a weight indicative of a probability of the particle. The system executes the particle filter to update the particles based on a motion model and a measurement model of the vehicle, control commands moving the vehicle and measurements of the state where the vehicle moved according to the control commands. A control command is generated based on the motion of the vehicle, the weighted combinations of the state of the vehicle and the pdf of the tire friction function weighted according corresponding weights of the particles.
SYSTEM AND METHOD FOR DETERMINING FRICTION CURVE OF TIRE
SYSTEM UND VERFAHREN ZUR BESTIMMUNG DER REIBUNGSKURVE EINES REIFENS
SYSTÈME ET PROCÉDÉ DE DÉTERMINATION DE COURBE DE FROTTEMENT DE PNEU
2023-01-04
Patent
Electronic Resource
English
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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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