The paper introduces a novel modular estimation approach for lateral vehicle and tire dynamics using a simplified vehicle model and a non-linear estimation algorithm. A dynamics-oriented representation of lateral tire forces with a single track lateral vehicle model (STVM) has been introduced. Subsequently, extended Kalman filter (EKF) based distributed observer modules for each dynamical parameter has been designed and combined into a Unified Estimation Scheme (UES). Finally, a linear quadratic regulator (LQR) based Active Front Steering (AFS) control system has been designed using the estimated parameters. The accuracy and computational efficiency of the designed scheme has been analyzed and compared to non-modular UKF, EKF, and Particle Filter (PF) algorithms, through Monte-Carlo Simulations using the CarSim dataset for both high and low μ surfaces, followed by further validation using real-time dataset. The results show that the proposed system significantly improve the accuracy and speed of estimation, as well as stable performance in closed loop control.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modular estimation of lateral vehicle dynamics and application in optimal AFS control


    Contributors:


    Publication date :

    2021-12-01


    Size :

    17 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Differential dynamic programming and optimal control of vehicle lateral dynamics

    Khatab,S. / Traechtler,A. / Univ.Paderborn,DE | Automotive engineering | 2011


    VEHICLE LATERAL DYNAMICS ESTIMATION USING TELEMETRY DATA

    CHEN SHU / GRIMM DONALD K | European Patent Office | 2023

    Free access

    Differential dynamic programming and the optimal control of vehicle lateral dynamics

    Khatab, Shaady / Trächtler, Ansgar | Tema Archive | 2011


    Differential Dynamic Programming and the Optimal Control of Vehicle Lateral Dynamics

    Khatab, S. / Trachtler, A. / VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik; Verein Deutscher Ingenieure | British Library Conference Proceedings | 2011