Extended adaptive Kalman filter for real-time state estimation of vehicle handling dynamics

Best, M. C. and Gordon, T. J. and Dixon, P. J. (2000) Extended adaptive Kalman filter for real-time state estimation of vehicle handling dynamics. Vehicle System Dynamics, 34 (1). pp. 57-75. ISSN 0042-3114

Full text not available from this repository.

Item Type:Article
Item Status:Live Archive

Abstract

This paper considers a method for estimating vehicle handling dynamic states in real-time, using a reduced sensor set; the information is essential for vehicle handling stability control and is also valuable in chassis design evaluation. An extended (nonlinear) Kalman filter is designed to estimate the rapidly varying handling state vector. This employs a low order (4 DOF) handling model which is augmented to include adaptive states (cornering stiffnesses) to compensate for tyre force nonlinearities. The adaptation is driven by steer-induced variations in the longitudinal vehicle acceleration. The observer is compared with an equivalent linear, model-invariant Kalman filter. Both filters are designed and tested against data from a high order source model which simulates six degrees of freedom for the vehicle body, and employs a combined-slip Pacejka tyre model. A performance comparison is presented, which shows promising results for the extended filter, given a sensor set comprising three accelerometers only. The study also presents an insight into the effect of correlated error sources in this application, and it concludes with a discussion of the new observer's practical viability.

Keywords:Accelerometers, Adaptive filtering, Correlation methods, Degrees of freedom (mechanics), Error analysis, Kalman filtering, Mathematical models, Motion control, Nonlinear filtering, Sensors, State estimation, Vehicles, State observers, Vehicle handling dynamics, Dynamics
Subjects:H Engineering > H660 Control Systems
H Engineering > H330 Automotive Engineering
Divisions:College of Science > School of Engineering
ID Code:11675
Deposited On:01 Oct 2013 17:53

Repository Staff Only: item control page