This study presents an Extended Kalman Filter for estimation of vehicle planar velocities and tire forces. For this, a 10 Degrees of Freedom vehicle model is used together with onboard sensors. To gain robustness, the estimator considers unknown road angles. The method is validated using data gathered with a test vehicle driving over graded and banked roads and driving a demanding test provoking significant wheel slip. An analysis is done to evaluate the gains and drawbacks of including road angle estimation while driving over both flat and non-flat roads. In addition, the analysis highlights the effects of sensor performance on the estimation results and capabilities for a wide range of realistic driving scenarios.


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    Title :

    Robust vehicle state and tire force estimation: Highlights on effects of road angles and sensor performance


    Contributors:


    Publication date :

    2021-07-11


    Size :

    8038127 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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