The knowledge of the wheel forces is fundamental to the development of Advanced Driver Assistance Systems (ADAS) such as Electronic Stability Control (ESC) and Anti-Roll Control (ARC). However the direct measurement of the wheel forces has been very difficult. To overcome this drawback, it has been a common practice in the industry to estimate the forces at the tire-road contact using mathematical vehicle models and estimators, especially the Extended Kalman Filter (EKF). In this contribution, the performance of the EKF is evaluated using a complete spatial model with 14 degrees of freedom.
Nonlinear State Estimation of Tire-Road Contact Forces Using a 14 DoF Vehicle Model
2012
5 Seiten
Conference paper
English
Nonlinear State Estimation of Tire-Road Contact Forces Using a 14 DoF Vehicle Model
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