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.

A Physical-Based Observer for Vehicle State Estimation and Road Condition Monitoring / Lenzo, B.; Ottomano, G.; Strano, S.; Terzo, M.; Tordela, C.. - In: IOP CONFERENCE SERIES: MATERIALS SCIENCE AND ENGINEERING. - ISSN 1757-8981. - 922:1(2020), p. 012005. (Intervento presentato al convegno 2020 9th International Conference on Mechatronics and Control Engineering, ICMCE 2020 tenutosi a ita nel 2020) [10.1088/1757-899X/922/1/012005].

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

Lenzo B.;Strano S.;Terzo M.;Tordela C.
2020

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.
2020
A Physical-Based Observer for Vehicle State Estimation and Road Condition Monitoring / Lenzo, B.; Ottomano, G.; Strano, S.; Terzo, M.; Tordela, C.. - In: IOP CONFERENCE SERIES: MATERIALS SCIENCE AND ENGINEERING. - ISSN 1757-8981. - 922:1(2020), p. 012005. (Intervento presentato al convegno 2020 9th International Conference on Mechatronics and Control Engineering, ICMCE 2020 tenutosi a ita nel 2020) [10.1088/1757-899X/922/1/012005].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/877125
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