is presented. Specifically an Extended Kalman Filter (EKF) based on a single-track vehicle model is implemented. Available measurements include tyre cornering forces, which are added to the ones usually present on-board vehicle (steer angle, lateral acceleration and yaw rate). Tyre-road contact forces are assumed to be provided once per wheel turn by a smart tyre constituted of two tri-axial accelerometers glued on the tyre inner liner. Performance of the proposed observer is evaluated on a series of handling manoeuvres and its robustness to road bank angle and tyre parameters variation is discussed.

Effect of cornering forces measurement on real-time estimation of tyre-road friction coefficient, vehicle sideslip angle and road bank angle

CHELI, FEDERICO;IVONE, DAVIDE;SABBIONI, EDOARDO
2014-01-01

Abstract

is presented. Specifically an Extended Kalman Filter (EKF) based on a single-track vehicle model is implemented. Available measurements include tyre cornering forces, which are added to the ones usually present on-board vehicle (steer angle, lateral acceleration and yaw rate). Tyre-road contact forces are assumed to be provided once per wheel turn by a smart tyre constituted of two tri-axial accelerometers glued on the tyre inner liner. Performance of the proposed observer is evaluated on a series of handling manoeuvres and its robustness to road bank angle and tyre parameters variation is discussed.
2014
Proc. of 12th International Symposium on Advanced Vehicle Control (AVEC'14)
Modelling and simulations, State estimation, Sensors and actuators
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/861958
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