Title: Adap-tyre: DEKF filtering for vehicle state estimation based on tyre parameter adaptation

Authors: Arash Hosseinian Ahangarnejad; S. Çağlar Başlamışlı

Addresses: Politecnico di Milano, Department of Mechanical Engineering, Campus Bovisa Sud, Via La Masa 1, 20156 Milan, Italy ' Department of Mechanical Engineering, Hacettepe University, Beytepe, Ankara 06800, Turkey

Abstract: This paper presents an application of the dual extended Kalman filter (DEKF) algorithm for the estimation of vehicle/tyre dynamics states and parameters. The developed algorithm Adap-tyre relies on online adaptation of simple tyre models available in the literature and it is used in this paper for vehicle handling estimation. The performance of Adap-tyre is assessed by comparing estimated vehicle characteristics (vehicle body sideslip angle and tyre lateral forces) and tyre parameters with characteristics of a non-linear vehicle planar model with tyres modelled according to the magic formula. Simulation results indicate that the proposed algorithm is very efficient in estimating critical vehicle states and tyre parameters.

Keywords: dual extended Kalman filter; DEKF; state estimation; parameter estimation; adaptive tyre models; vehicle dynamics; sideslip angle; rational tyre models; magic formula tyre models; road friction coefficient; tyre lateral force; tyre modelling; vehicle handling; nonlinear modelling; simulation; vehicle critical states; tyre parameters.

DOI: 10.1504/IJVD.2016.078769

International Journal of Vehicle Design, 2016 Vol.71 No.1/2/3/4, pp.52 - 74

Received: 25 Oct 2014
Accepted: 23 Sep 2015

Published online: 02 Sep 2016 *

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