The basic concept and the practical demonstration of an integrated sensor platform for a research vehicle to design and evaluate driving dynamics control functions are presented. Based on data of a multi antenna GPS system and vehicle dynamic sensors, an information platform is developed which includes the merged sensor signals and an estimation of not measurable vehicle states. These relative precise signals (measured and estimated) are the basis for further methods to design and evaluate vehicle dynamics control functions like ABS or ESC. The state estimation is accomplished by coupling the signals in a Kalman filter. This method has a modular structure, so it is not dependent on a particular sensor configuration. Furthermore, an identification of a dynamic roll model with the merged signals is presented. In contrast to other works this method uses, besides the GPS position and speed, additional information from the GPS system (pitch-, roll- or yaw angle).


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    Title :

    Estimation of vehicle dynamic states using driving dynamics sensors and GPS data to evaluate driving control functions


    Contributors:
    Bauer, M. (author) / Collard, J. (author) / Isermann, R. (author)


    Publication date :

    2012


    Size :

    12 Seiten, 8 Bilder, 2 Tabellen, 14 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English





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