Adaptive vehicle dynamics state estimator for onboard automotive applications and performance analysis

This work describes the development of a vehicle state estimator, designed to be employed onboard in real-time, based on the data acquisitions already available within the vehicle CAN bus infrastructure. The proposed estimation algorithm, taking into account the suspension elasto-kinematics, the longitudinal, lateral and combined dynamics of the tyres as well as the aligning interaction torques at the ground, represents at the current stage a significantly complete tool, since it also provides an estimation of road slope and banking angles, generalising the adoption of the presented vehicle model even on highly inclined roads. A further advantage of the presented estimator consists of its capability to identify in real-time and with a good level of accuracy the tyre/road interaction physical characteristics in terms of grip and cornering stiffness.

Automated summary

This work describes the development of a vehicle state estimator that can be used in real-time based on the data acquisitions available within the vehicle CAN bus infrastructure. The proposed algorithm takes into account various dynamics and interaction torques to provide accurate estimations of road slope, banking angles, and physical characteristics of tire/road interaction.