Design and Experimental Validation of a Stable Two-Stage Estimator for Automotive Sideslip Angle and Tire Parameters
| Autor: | Frank Naets, Boulaid Boulkroune, Sebastiaan van Aalst, Wim Desmet, Norddin El Ghouti |
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| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering tire model Computer Networks and Communications MBSE Automotive industry Aerospace Engineering 02 engineering and technology Vehicle dynamics Extended Kalman filter 020901 industrial engineering & automation IOF 0203 mechanical engineering Control theory PDmandaat_Frank FM_affiliated Observability Electrical and Electronic Engineering Slip (aerodynamics) business.industry stable estimation Estimator 020302 automobile design & engineering Kalman filter Covariance sideslip angle Automotive Engineering DYSCO business |
| Zdroj: | IEEE Transactions on Vehicular Technology. 66:9727-9742 |
| ISSN: | 1939-9359 0018-9545 1967-2012 |
| DOI: | 10.1109/tvt.2017.2742665 |
| Popis: | © 1967-2012 IEEE. This paper proposes and experimentally validates a two-stage approach for coupled lateral vehicle state and tire model estimation. In a first stage, an extended Kalman filter is employed which provides vehicle slip angles and lateral tire forces from commercial low-cost vehicle sensors. The obtained estimates are exploited in the second stage, where a (quasi-static) tire model is fitted to this data. A major issue in this estimation process is the typical instability of these estimators for situations with (prolonged) straight driving. This issue is traced back to a lack of local observability. The use of a variable model covariance is introduced as a practical method to obtain a stable estimator, irrespective of the unobservability. The developed methodology has a low computational load and the Kalman estimator is able to run in real time, whereas the tire model parameter fitting is cheap enough to run online. The proposed methodology is validated experimentally and provides reliable results in variable driving conditions. ispartof: IEEE Transactions on Vehicular Technology vol:66 issue:11 pages:9727-9742 status: published |
| Databáze: | OpenAIRE |
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