This technical brief proposes a new model-based estimation method for the vehicle sideslip angle, yaw rate, roll angle, and roll rate using unscented Kalman filter (UKF). Since a vehicle wheel could potentially lift off the ground during the limit handling, a switched vehicle roll dynamics model (wheel lift and no wheel lift) is developed and integrated within the proposed model-based estimation approach considering the availability of wheel speed sensor. The simulation results and analyses demonstrate the performance enhancement of the proposed estimation method over the method not considering wheel lift during the limit handling.
Model-Based Estimation for Vehicle Dynamics States at the Limit Handling
The Center for Automotive Engineering,
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 29, 2014; final manuscript received June 3, 2015; published online July 14, 2015. Assoc. Editor: Shankar Coimbatore Subramanian.
- Views Icon Views
- Share Icon Share
- Search Site
Jia, G., Li, L., and Cao, D. (October 1, 2015). "Model-Based Estimation for Vehicle Dynamics States at the Limit Handling." ASME. J. Dyn. Sys., Meas., Control. October 2015; 137(10): 104501. https://doi.org/10.1115/1.4030784
Download citation file: