Cascaded observers to improve lateral vehicle state and tyre parameter estimates
by Robert Daily, William Travis, David M. Bevly
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 5, No. 3/4, 2007

Abstract: This paper proposes a method to produce high update, accurate, observable estimates of vehicle sideslip, utilising a two antenna GPS system. Measurements are blended with a kinematic Kalman filter to get high update sideslip estimates, which are used to predict the Dugoff tyre parameters. The parameters are then used in a model-based Kalman filter, which can provide more accurate vehicle state estimates even in the event of a GPS outage. Tyre force estimation is tested with experimental data on high and low friction surfaces, and validated by the performance of the model-based Kalman filter using the identified tyre parameters.

Online publication date: Fri, 28-Dec-2007

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