State estimation for integrated vehicle dynamics control
conference paper
This paper discusses a vehicle controller and a state estimator that was implemented and tested in a vehicle equipped with a combined braking and chassis control system to improve handling. The vehicle dynamics controller consists of a feed forward body roll compensation and a feedback stability controller. The estimator is based on a non-linear vehicle model combined with an extended Kalman filter. The Kalman filter is also connected to an algorithm, which estimates the tyre-road friction coefficient. The developed estimator was tested in a vehicle. Good results were achieved for normal and extreme driving manoeuvers.
TNO Identifier
362722
Source title
6th International Symposium on Advanced Vehicle Control, AVEC '02, 9-13 September, 2002, Hiroshima, Japan
Files
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