Vehicle sideslip estimation for four-wheel-steering vehicles using a particle filter

LENZO, Basilio and DE CASTRO, Ricardo (2020). Vehicle sideslip estimation for four-wheel-steering vehicles using a particle filter. Advances in dynamics of vehicles on roads and tracks. Proceedings of the 26th symposium of the International Association of Vehicle System Dynamics, IAVSD, August 12-16, 2019, Gothenburg, Sweden. Lecture notes in mechanical engineering., 1624-1634.

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Link to published version:: https://doi.org/10.1007/978-3-030-38077-9_185
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Abstract

The availability of the most relevant vehicle states is crucial for the development of advanced vehicle control systems and driver assistance systems. Specifically the vehicle sideslip angle plays a key role, yet this state is unpractical to measure and still not straightforward to estimate. This paper investigates a particle filter approach to estimate the chassis sideslip angle of road vehicles. The filter relies on a physical model of the vehicle and on measurements available from cheap and widespread sensors including inertial measurement unit and steering wheel angle sensor(s). The approach is validated using experimental data collected with the research platform RoboMobil (RoMo), a by-wire electric vehicle with wheel-individual traction and steering actuators. Results show that the performance of the proposed particle filter is satisfactory, and indicate directions for further improvement.

Item Type: Article
Additional Information: Proceedings of the 26th symposium of the International Association of Vehicle System Dynamics, IAVSD, August 12-16, 2019, Gothenburg, Sweden. Series: Lecture notes in mechanical engineering. ISBN:9783030380762
Identification Number: https://doi.org/10.1007/978-3-030-38077-9_185
Page Range: 1624-1634
SWORD Depositor: Symplectic Elements
Depositing User: Symplectic Elements
Date Deposited: 09 Oct 2019 15:41
Last Modified: 18 Feb 2020 13:00
URI: http://shura.shu.ac.uk/id/eprint/24916

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