In order to evaluate the driving stability of a motor vehicle, the accurate determination of the vehicle sideslip angle is of significant importance. With the help of the sensor signals in today's production vehicles, this state can only be determined with limited accuracy. We propose an algorithm for the determination and estimation of the vehicle state based on the Unscented Kaiman Filter. In the described estimator a two-track model of the vehicle is used, which represents the road contact with the Pacejka's Magic Formula tyre model.
Using the unscented Kalman filter and a non-linear two-track model for vehicle state estimation
IFAC, IFAC World Congress, 17 ; 228-233
2008
6 Seiten, 7 Bilder, 18 Quellen
Conference paper
English
Vehicle state estimation using a non-linear two-track model and the Unscented Kalman Filter
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