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An extended adaptive Kalman filter for real-time state estimation of vehicle handling dynamics
journal contribution
posted on 2011-04-21, 08:53 authored by Matt BestMatt Best, T.J. Gordon, P.J. DixonThis paper considers a method for estimating vehicle handling dynamic states in real-time, using a
reduced sensor set; the information is essential for vehicle handling stability control and is also valuable
in chassis design evaluation. An extended (nonlinear) Kalman filter is designed to estimate the
rapidly varying handling state vector. This employs a low order (4 DOF) handling model which is
augmented to include adaptive states (cornering stiffnesses) to compensate for tyre force nonlinearities.
The adaptation is driven by steer-induced variations in the longitudinal vehicle acceleration.
The observer is compared with an equivalent linear, model-invariant Kalman filter. Both filters are
designed and tested against data from a high order source model which simulates six degrees of freedom
for the vehicle body, and employs a combined-slip Pacejka tyre model. A performance comparison
is presented, which shows promising results for the extended filter, given a sensor set comprising
three accelerometers only. The study also presents an insight into the effect of correlated error sources
in this application, and it concludes with a discussion of the new observer’s practical viability.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Citation
BEST, M.C., GORDON, T.J. and DIXON, P.J., 2000. An extended adaptive Kalman filter for real-time state estimation of vehicle handling dynamics. Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 34 (1), pp. 57–75.Publisher
Taylor and Francis (© Swets & Zeitlinger)Version
- AM (Accepted Manuscript)
Publication date
2000Notes
This is an electronic version of an article that was accepted for publication in the journal, Vehicle Systems Dynamics: International Journal of Vehicle Mechanics and Mobility [© Swets & Zeitlinger] and the definitive version is available at: http://www.informaworld.com/smpp/title~db=all~content=g714021327ISSN
1744-5159;0042-3114Publisher version
Language
- en