The partially varying parameters required for autonomous driving stability control need to be estimated from readily available parameters. Firstly, a 7-degree-of-freedom dynamics model and a Dugoff tyre dynamics model are established. Then, the observation variables are defined according to the estimation parameters, the state-space equations are established for the estimation, and the joint estimation of motion state and road parameters is carried out in real time by applying the unscented Kalman filter and correlating the different estimation modules with each other. Finally, a simulation model for time-varying road conditions is established, and the results show that the joint estimation model can effectively estimate the motion state and road parameters.


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    Title :

    Estimation of Motion Status and Road Parameters for Distributed-drive Vehicles under Time-Varying Road Conditions


    Contributors:
    Guo, Lie (author) / Zhao, Yijie (author) / Tan, Zhenyu (author) / Zhao, Yibing (author)


    Publication date :

    2023-10-27


    Size :

    16691437 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English