This paper proposes a novel algorithm to identify three inertial parameters: sprung mass, yaw moment of inertia, and longitudinal position of the center of gravity. A four-wheel nonlinear vehicle model with roll dynamics and a correlation between the inertial parameters is used for a dual unscented Kalman filter to simultaneously identify the inertial parameters and the vehicle state. A local observability analysis on the nonlinear vehicle model is used to activate and deactivate different modes of the proposed algorithm. Extensive CarSim simulations and experimental tests show the performance and robustness of the proposed approach on a flat road with a constant tire-road friction coefficient.


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    Title :

    A Novel Approach for Vehicle Inertial Parameter Identification Using a Dual Kalman Filter




    Publication date :

    2015




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.84 / 55.24 / 55.84 Straßenverkehr / 55.24 Fahrzeugführung, Fahrtechnik



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