Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-06-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Vehicle states estimation (e.g., vehicle sideslip angle and tire force) is a key factor for vehicle stability control.
However, the accurate values of these parameters could not be obtained directly.
In this paper, an interacting multiple model-cubature Kalman filter (IMM-CKF) is used to estimate the vehicle state parameters.
And improvements about estimation method are achieved in this paper.
Firstly, the accuracy of the reference model is improved by building two different models: one is 7-degree-of-freedom (7 DOF) vehicle model with linear tire model, and the other is 7 DOF vehicle model with nonlinear Dugoff tire model.
Secondly, the different models are switched by IMM-CKF to match different driving condition.
Thirdly, the lateral acceleration correction for sideslip angle estimation is considered, because the sensor of lateral acceleration is easy to be influenced by the gravity on banked road.
Then, to compare cubature Kalman filter (CKF) estimation method and IMM-CKF estimation method Hardware-In-Loop (HIL) tests are carried out in the paper.
And simulation results show that IMM-CKF methodology can provide accurate estimation values of vehicle states parameters.
American Psychological Association (APA)
Hou, Suojun& Xu, Wenbo& Liu, Gang. 2019. Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1196335
Modern Language Association (MLA)
Hou, Suojun…[et al.]. Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation. Mathematical Problems in Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1196335
American Medical Association (AMA)
Hou, Suojun& Xu, Wenbo& Liu, Gang. Design of an Interacting Multiple Model-Cubature Kalman Filter Approach for Vehicle Sideslip Angle and Tire Forces Estimation. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1196335
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196335