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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
Kalman filter
Parameter estimation
State observer
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
Version: Published
DOI: 10.1243/09544070D18304
URI: https://dspace.lboro.ac.uk/2134/5110
ISSN: 0954-4070
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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