Sideslip angle estimation based on input-output linearisation with tire-road friction adaptation
Sideslip angle estimation based on input-output linearisation with tire-road friction adaptation
- New search for: Gao, Xiaojie
- New search for: Yu, Zhuoping
- New search for: Neubeck, Jens
- New search for: Wiedemann, Jochen
- New search for: Gao, Xiaojie
- New search for: Yu, Zhuoping
- New search for: Neubeck, Jens
- New search for: Wiedemann, Jochen
An adaptive sideslip angle observer considering tire-road friction adaptation is proposed in this paper. The single-track vehicle model with nonlinear tire characteristics is adopted. The tire parameters can be easily obtained through road test data without using special test rigs. Afterwards, this model is reconstructed and a high-gain observer (HGO) based on input-output linearisation is derived. The observer stability is analysed. Experimental results have confirmed that the HGO has a better computational efficiency with the same accuracy when compared with the extended Kalman filter and the Luenberger observer. Finally, a road friction adaptive algorithm based on vehicle lateral dynamics is proposed and validated through driving simulator data. As long as the tires work in the nonlinear region, the maximal friction coefficient could be estimated. This algorithm has excellent portability and is also suitable for other observers.
Document information
Sideslip angle estimation based on input-output linearisation with tire-road friction adaptation
Schiebewinkel-Schätzung auf Basis der Ein-Ausgabe-Linearisierung mit Reifen-Straße-Reibungsadaptation
Vehicle System Dynamics ; 48 , 2 ; 217-234
2010
18 Seiten, 11 Bilder, 1 Tabelle, 22 Quellen
Article (Journal)
English
Kalman-Filter , Anwendung im Fahrzeugbau , Schiebewinkel , Fahrmechanik , Schätzung , Straße (Verkehr) , Beobachter (Regelungstheorie) , Fahrzeugreifen , Reifenkennlinie , Algorithmus , mathematisches Modell , Fahrzeugquerdynamik , Fahrsimulation , Fahrsimulator , Nichtlinearität , Reibbeiwert , Ein-Ausgabe , Fahrverhalten
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