Estimation of sideslip angle and cornering stiffness of an articulated vehicle using a constrained lateral dynamics model |
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| Affiliation: | 1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China;2. Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Chongqing University of Technology, Ministry of Education, Chongqing 400054, China;1. Department of Vehicle Engineering Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, H3G1M8, Canada;3. Department of Computer Science & Engineering, University of Minnesota, Minneapolis, MN 55455, United States of America |
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| Abstract: | In this paper, a constrained lateral dynamics model of articulated vehicles and an algorithm for estimating sideslip angle and cornering stiffness are proposed. The articulated vehicle was modeled using the bicycle model, linear tire model, and modified Dug-off model. The normal force of each axle included in the model was estimated based on the longitudinal load transfer model. Physical constraints were applied to reduce model states. Accurate sideslip angle and cornering stiffness are essential for vehicle control safety and autonomous driving performance. The sideslip angle and cornering stiffness were simultaneously estimated using a dual linear time-varying (LTV) Kalman filter. The observability matrix guaranteed the convergence of the proposed estimation algorithm. The estimation performance was verified by simulation with TruckSim and an experiment using an articulated bus. |
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| Keywords: | Articulated bus Articulated vehicle Constrained lateral dynamics model Cornering stiffness Dual linear time-varying Kalman filter Sideslip angle |
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