Vehicle dynamics control (VDC) systems require information about system variables, which cannot be directly measured, e.g. the wheel slip or the vehicle side-slip angle. This paper presents a new concept for the vehicle state estimation under the assumption that the vehicle is equipped with the standard VDC sensors. It is proposed to utilise an unscented Kalman filter for estimation purposes, since it is based on a numerically efficient nonlinear stochastic estimation technique. A planar two-track model is combined with the empiric Magic Formula in order to describe the vehicle and tyre behaviour. Moreover, an advanced vertical tyre load calculation method is developed that additionally considers the vertical tyre stiffness and increases the estimation accuracy. Experimental tests show good accuracy and robustness of the designed vehicle state estimation concept.


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    Title :

    Unscented Kalman filter for vehicle state estimation


    Contributors:
    Antonov, S. (author) / Fehn, A. (author) / Kugi, A. (author)

    Published in:

    Vehicle System Dynamics ; 49 , 9 ; 1497-1520


    Publication date :

    2011-09-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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