A critical component of vehicle dynamic control systems is the accurate and real-time knowledge of the vehicle’s key states and parameters when running on the road. Such knowledge is also essential for vehicle closed-loop feedback control. Vehicle state and parameter estimation has gradually become an important way to soft-sense some variables that are difficult to measure directly using general sensors. In this work, a seven degrees-of-freedom (7-DOF) nonlinear vehicle dynamics model is established, where consideration of the Magic formula tire model allows us to estimate several vehicle key states using a hybrid algorithm containing an unscented Kalman filter (UKF) and a genetic algorithm (GA). An estimator based on the hybrid algorithm is compared with an estimator based on just a UKF. The results show that the proposed estimator has higher accuracy and fewer computation requirements than the UKF estimator. The results of a real-vehicle experiment demonstrate that the proposed hybrid algorithm can be used effectively for solving the vehicle-state estimation problem.
Vehicle State Estimation Based on Unscented Kalman Filtering and a Genetic Algorithm
Sae Int. J. Commer. Veh
Sae International Journal of Commercial Vehicles ; 14 , 1 ; 23-37
2020-09-22
15 pages
Conference paper
English
Unscented Kalman filter for vehicle state estimation
Online Contents | 2011
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Automotive engineering | 2011
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Taylor & Francis Verlag | 2011
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