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|Title: ||A parameter identifying a Kalman filter observer for vehicle handling dynamics|
|Authors: ||Hodgson, G.|
Best, Matt C.
|Keywords: ||Handling dynamics|
|Issue Date: ||2006|
|Publisher: ||Professional Engineering Publishing / © IMechE|
|Citation: ||HODGSON, G. and BEST, M.C., 2006. A parameter identifying a Kalman filter observer for vehicle handling dynamics. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 220 (8), pp. 1063-1072|
|Abstract: ||The paper presents a method for designing a non-linear (i.e. extended) Kalman
filter that is also parameter adaptive and hence capable of online identification of its model.
The filter model is deliberately simple in structure and low order, yet includes non-linear,
load-varying tyre force calculations to ensure accuracy over a range of test conditions. Shape
parameters within the (Pacejka) tyre model are adapted rapidly in real time, to maintain
excellent state reconstruction accuracy, and provide valuable real-time lateral and vertical tyre
force information. The filter is tested in both simulated and test vehicle environments and
provides good results. The paper also provides an illustration of the importance of good Kalman
filter design practice in terms of selection and tuning of the noise matrices, particularly in
terms of the influence of model/sensor error cross-correlations.|
|Description: ||This article has been published in the journal, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering [© IMechE]. The definitive version is available at: http://journals.pepublishing.com/content/119783|
|Appears in Collections:||Published Articles (Aeronautical and Automotive Engineering)|
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