The reliability of control systems implemented onboard vehicles is strictly dependent on the correct estimation of the sideslip angle coupled with tire-road features. The prediction of tire-road forces and friction is strongly dependent on tire models typically characterizable through expensive experimental tests. In this paper, a nonlinear estimation approach, based on an Extended Kalman Filter, of lateral tire-road forces and friction coupled with the vehicle sideslip angle is proposed. The estimator is based on a single-track vehicle model, including a parametric estimation approach to avoid a specific tire model employment. The results obtained through the proposed technique are compared with a detailed vehicle model in both non-noisy and noisy measurements.

A Nonlinear Estimation Approach for Vehicle and Tire-Road Monitoring with No Interaction Modelling

Strano S.;Terzo M.;Tordela C.
2022

Abstract

The reliability of control systems implemented onboard vehicles is strictly dependent on the correct estimation of the sideslip angle coupled with tire-road features. The prediction of tire-road forces and friction is strongly dependent on tire models typically characterizable through expensive experimental tests. In this paper, a nonlinear estimation approach, based on an Extended Kalman Filter, of lateral tire-road forces and friction coupled with the vehicle sideslip angle is proposed. The estimator is based on a single-track vehicle model, including a parametric estimation approach to avoid a specific tire model employment. The results obtained through the proposed technique are compared with a detailed vehicle model in both non-noisy and noisy measurements.
978-3-031-10775-7
978-3-031-10776-4
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/899239
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