Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering

被引：0
|
作者：
Chang-fu Zong
Pan Song
Dan Hu
机构：
[1] Jilin University,State Key Laboratory of Automotive Simulation and Control
来源：
Journal of Zhejiang University-SCIENCE A | 2011年 / 12卷
关键词：
Vehicle dynamics; State estimation and system identification; Active safety and passive safety; U461.1;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A model-based estimator design and implementation is described in this paper to undertake combined estimation of vehicle states and tire-road friction coefficients. The estimator is designed based on a vehicle model with three degrees of freedom (3-DOF) and the dual extended Kalman filter (DEKF) technique is employed. Effectiveness of the estimation is examined and validated by comparing the outputs of the estimator with the responses of the vehicle model in CarSim in three typical road adhesion conditions (high-friction, low-friction, and joint-friction roads). Simulation results demonstrate that the DEKF estimator algorithm designed is able to obtain vehicle states (e.g., yaw rate and roll angle) as well as road friction coefficients with reasonable accuracy.
引用
收藏
页码：446 / 452
页数：6
相关论文
共 50 条
  • [1] Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering
    Zong, Chang-fu
    Song, Pan
    Hu, Dan
    [J]. JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A, 2011, 12 (06): : 446 - 452
  • [2] Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering
    Chang-fu ZONG
    [J]. Journal of Zhejiang University-Science A(Applied Physics & Engineering), 2011, 12 (06) : 446 - 452
  • [3] Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering
    Changfu ZONGPan SONGDan HUState Key Laboratory of Automotive Simulation and ControlJilin UniversityChangchun China
    [J]. Journal of Zhejiang University-Science A(Applied Physics & Engineering), 2011, (06) : 446 - 452
  • [4] Integrated Estimation of Vehicle States, Tire Forces, and Tire-Road Friction Coefficients
    Hsiao, Tesheng
    Lan, Jing-Yuan
    Yang, Hanping
    [J]. 2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014), 2014, : 1227 - 1232
  • [5] Tire-Road Friction Coefficient Estimation with Vehicle Steering
    Hong, Sanghyun
    Hedrick, J. Karl
    [J]. 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2013, : 1227 - 1232
  • [6] Vehicle velocity and tire-road friction force estimation
    [J]. 2001, Amirkabir University of Technology (12):
  • [7] Vehicle states observer using adaptive tire-road friction estimator
    Kwak, B
    Park, Y
    [J]. JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2001, 44 (03): : 668 - 675
  • [8] Real-Time Estimation of Tire-Road Friction Coefficient Based on Unscented Kalman Filtering
    Lin, Xuewu
    Wang, Jianqiang
    Xu, Qing
    Shi, Gaolei
    Jin, Yitao
    [J]. 2020 IEEE 5TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION ENGINEERING (IEEE ICITE 2020), 2020, : 376 - 382
  • [9] VEHICLE LATERAL VELOCITY AND TIRE-ROAD FRICTION COEFFICIENT ESTIMATION
    Wang, Rongrong
    Yin, Guodong
    Wang, Junmin
    [J]. PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 3, 2013, : 495 - 502
  • [10] Vehicle Nonlinear Observer for state and Tire-Road friction estimation
    Yacine, Zedjiga
    Ichalal, Dalil
    Oufroukh, Naima Ait
    Mammar, Said
    [J]. 2013 16TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS - (ITSC), 2013, : 2181 - 2186
12345