Nonlinear State Estimation of Tire-Road Contact Forces using a 14 DoF Vehicle Model

被引：3

作者：

Louis, Lawrence ^{[1
]}

Schramm, Dieter ^{[1
]}

机构：

[1] Univ Duisburg Essen, D-47057 Essen, Germany

来源：

TRENDS IN AUTOMOTIVE RESEARCH | 2012年 / 165卷

关键词：

spatial vehicle model; nonlinear estimation; extended Kalman Filter;

D O I：

10.4028/www.scientific.net/AMM.165.155

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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.

引用

页码：155 / 159

页数：5

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