A Physical-Based Observer for Vehicle State Estimation and Road Condition Monitoring

LENZO, Basilio, OTTOMANO, Giuseppe, STRANO, Salvatore, TERZO, Mario and TORDELA, Ciro (2020). A Physical-Based Observer for Vehicle State Estimation and Road Condition Monitoring. ICMCE 2020 conference proceedings.

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    Abstract

    The performance of the vehicle's active safety systems depends on accurate knowledge of the vehicle state, and the frictional forces resulting from tyre contact and the road surface. This paper aims to estimate the vehicle states and tyre-road coefficient of friction through and Extended Kalman Filter (EKF), integrated with the Double-Track model and the Pacejka Magic Formula that allows knowledge of the lateral force of the tyre. Besides, this approach can estimate the overall coefficient of lateral friction on each side of the vehicle, left and right respectively. Simulations based on a reference vehicle model are performed on different road surfaces and driving manoeuvres to verify the effectiveness of the proposed estimation method, in order to obtain good performance from different vehicle control systems.

    Item Type: Article
    SWORD Depositor: Symplectic Elements
    Depositing User: Symplectic Elements
    Date Deposited: 04 Aug 2020 09:58
    Last Modified: 04 Aug 2020 10:00
    URI: http://shura.shu.ac.uk/id/eprint/26859

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