Lateral vehicle-dynamic observers: simulations and experiments. (2nd January 2008)

• Record Type: Journal Article
• Authors: Baffet, Guillaume; Charara, Ali; Stephant, Joanny
• Is Part Of: International journal of vehicle autonomous systems. Volume 5:Number 3/4(2007)
• Page Start: 184
• Page End: 203
• Publication Date: 2008-01-02
• Subjects: vehicle dynamics -- tyre force models -- state observers -- sideslip angle estimation -- tyre force estimation -- road-friction identification -- lateral tyre forces -- wheel cornering stiffness -- simulation; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

This paper proposes and compares four observers designed to calculate vehicle sideslip angle and lateral tyre forces. The different observers are derived from the Extended Kalman Filter (EKF), the single-track model and use different tyre-force models. The first three tyre-force models are the linear model, the Burckhardt model and the Pacejka model. The remaining tyre-force model, the 'linear adaptive' model, is used to correct wheel cornering stiffness errors. The paper describes observers, along with a road-friction identification method. Observers are first compared in a simulation context using a professional vehicle simulator. Subsequently, observers are applied to experimental data.