Journal
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
Volume 29, Issue 2, Pages 95-115Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0142331207072990
Keywords
extended Kalman filter; stability control; state estimation; vehicle dynamics; virtual sensors
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This paper demonstrates the use of an extended Kalman filter (KF) as a virtual sensor for non-measurable vehicle states and unknown vehicle parameters. The purpose of obtaining these values is to make them available within the control algorithms of the various automotive stability systems. Based on an extensive four-wheel vehicle model, an estimator is implemented on data from a test vehicle. Using available reference data, the suitability of the extended KF technique as a virtual sensor is demonstrated.
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