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文件名称:Advanced Vehicle Motion Control Using Novel Lateral Tire Force Sensors
文件大小:691KB
文件格式:PDF
更新时间:2018-12-15 04:48:41
Vehicle State,Tire Force
Abstract—In this paper, new real-time methods for the lateral
vehicle velocity and roll angle estimation are presented. Lateral
tire forces, obtained from a multi-sensing hub (MSHub) unit,
are used to estimate lateral vehicle velocity and a roll angle.
In order to estimate lateral vehicle velocity, the recursive least
square (RLS) algorithm is utilized based on a linear vehicle
model and sensor measurements. In the roll angle estimation,
the Kalman filter is designed for real-time estimation. The
proposed estimation methods, RLS-based estimator and the
Kalman filter, were verified by field tests on an experimental
electric vehicle. Test results show that the proposed estimation
methods provide better estimation performances and these
methods are robust to road conditions.