Creating a sensor fusion of a three antenna GPS and an IMU in a Sequential Extended Kaiman Filter the three dimensional motion of a vehicle was estimated. A comparison of the resulting signals like side slip angle or longitudinal velocity with the Correvit signals offered a very good accuracy. The advantage of three compared to one GPS antenna GPS System is the higher quality of attitude estimation. This attitude data can be used for identification of roll models. Applying the estimated motion the combined longitudinal and lateral slip on tires could be determined. Estimation of the longitudinal forces on each tire and the estimated lateral forces at the front or rear axle, the parameters of a nonlinear tire model based on a Pacejka tire model that considered lateral, longitudinal slip, vertical force and a dynamic force build up, could be identified. The lateral vehicle dynamics model allows to estimate the difficult to measure moment of inertia around the z-axis. The comparison of measured yaw rate, lateral acceleration and slip angle compared to a nonlinear single track model and the identified two track model illustrated the quality of two track model for high lateral accelerations with ESC braking interventions. The effort to get these accurate models is relatively low. It only needs to measure the steering ratio with turning discs, the position of center of gravity by using wheel load scales and to apply a short test ride to get a robust identification of all 14 parameters, with braking, a steady state cornering and a slalom manoeuver from low to high accelerations. So a detailed two track model can be available in less than a half day. To get more detailed tyre models, e.g. with degressive behaviour by wheel load, it is necessary to use a detailed chassis model with pitch and roll centre, axle individual stiffness and damping to get more accurate vertical forces. Further investigation will examine how these parameters can be identified with short test ride and the mentioned sensor setup.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Fast identification of a detailed two-track model with onboard sensors and GPS


    Contributors:
    Bechtloff, J. (author) / Bauer, M. (author) / Ackermann, C. (author) / Isermann, R. (author)


    Publication date :

    2014


    Size :

    23 Seiten, Bilder, 17 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Fast identification of a detailed two-track model with onboard sensors and GPS

    Bechtloff,J. / Bauer,M. / Ackermann,C. et al. | Automotive engineering | 2014


    Railway track location estimation using onboard inertial sensors

    Peinado Gonzalo, Alfredo / Entezami, Mani / Roberts, Clive et al. | Taylor & Francis Verlag | 2022


    Onboard track measuring shows potential

    Hurk, Nick van den | IuD Bahn | 2014


    Identification of traffic states from onboard vehicle sensors

    Koopmann,J. / Najm,W.G. / Volpe National Transp.Systems Center,US | Automotive engineering | 2003