The article demonstrates the implementation of a model-based vehicle estimator, which can be used for combined estimation of vehicle states and parameters. The estimator is realised using the dual extended Kalman filter (DEKF) technique, which makes use of two Kalman filters running in parallel, thus 'splitting the state and parameter estimation problems. Note that the two problems cannot be entirely separated due to their inherent interdependencies. This technique provides several advantages, such as the possibility to switch off the parameter estimator, once a sufficiently good set of estimates has been obtained. The estimator is based on a four-wheel vehicle model with four degrees of freedom, which accommodates the dominant modes only, and is designed to make use of several interchangeable tyre models. The paper demonstrates the appropriateness of the DEKF. Results to date indicate that this is an effective approach, which is considered to be of potential benefit to the automotive industry.
Dual extended Kalman filter for vehicle state and parameter estimation
Vehicle System Dynamics ; 44 , 2 ; 153-171
2006
19 Seiten, 26 Quellen
Aufsatz (Zeitschrift)
Englisch
Dual extended Kalman filter for vehicle state and parameter estimation
Online Contents | 2006
|Dual extended Kalman filter for vehicle state and parameter estimation
Kraftfahrwesen | 2006
|Dual extended Kalman filter for vehicle state and parameter estimation
Taylor & Francis Verlag | 2006
|Dual extended Kalman filter for vehicle state and parameter estimation
British Library Conference Proceedings | 2006
|SAE Technical Papers | 2013
|