期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 24, 期 2, 页码 561-571出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2019.2899261
关键词
Intelligent vehicles; nonlinear Kalman filters; state observers; tire-ground forces estimation; vehicle dynamics
类别
资金
- Fapesp
- CNPq: Fapesp [2014/06610-8, 2014/27240-4, 2016/00693-4]
- Fapesp project VERDE [2014/02672-9]
- Fapesp project AUTO-VERDE [2018/04905-1]
- INCT-SAC Project [Fapesp 2014/50851-0, CNPq 465755/2014-3]
- Equipex ROBOTEX Heudiasyc Laboratory UMR CNRS UTC 7253 [ANR-10-EQPX-44-01]
- Fundacao de Amparo a Pesquisa do Estado de Sao Paulo (FAPESP) [16/00693-4] Funding Source: FAPESP
The knowledge of tire-ground interaction forces is valuable for intelligent vehicles technologies. However, tire forces transducers are expensive and not suitable for ordinary passenger cars. An alternative is to estimate these forces using less sophisticated sensors. This paper presents a new delayed interconnected cascade-observer structure to reconstruct the forces acting on each tire in all directions. The addition of delayed interconnections overcomes the mutual dependence problem in the cascade estimator. Observers are developed based on nonlinear vehicle dynamic models. The Extended Kalman Filter and the Unscented Kalman Filter algorithms are applied for comparison purposes. Two experimental data are used to validate the estimator: a driving in ordinary urban streets and a high-speed slalom maneuver in a banked road. The results are compared with force measurements obtained with transducers and with an existing estimator from the literature.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据