Title: Real-time estimation of a vehicle's moment of inertia based on IMU measurements

Authors: Xiongshi Wang; Jiahua Qi; Steffen Müller

Addresses: Institute of Automotive Engineering, Technical University of Berlin, Berlin, 13355, Germany ' Institute of Automotive Engineering, Technical University of Berlin, Berlin, 13355, Germany ' Institute of Automotive Engineering, Technical University of Berlin, Berlin, 13355, Germany

Abstract: Identifying a vehicle's moment of inertia for vehicle control in any driving condition is very important, e.g., for a good continuous performance of autonomous driving. In this study, an identification method is proposed for the pitch and roll moments of inertia. The performance of the proposed estimation method was evaluated through experiments using a 4-post test rig and inertial measurement unit (IMU) measurement system under different road conditions. Several scenarios have been investigated to verify the accuracy and robustness of the estimator in real-time. The results show very promising results with acceptable convergence time for a variety of manoeuvres.

Keywords: vehicle dynamics; parameter estimation; state estimation; moment of inertia; inertial measurement unit; support vector machine.

DOI: 10.1504/IJVD.2023.135835

International Journal of Vehicle Design, 2023 Vol.93 No.4, pp.310 - 331

Accepted: 30 Jun 2022
Published online: 08 Jan 2024 *

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