Vehicle sideslip estimator using load sensing bearings |
| |
Affiliation: | 1. Intelligent Automotive Systems Group, Precision and Microsystems Engineering Department, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands;2. Integrated Vehicle Safety Department, The Netherlands Organisation for Applied Scientific Research (TNO), Automotive Campus 30, 5708 JZ Helmond, The Netherlands;3. Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Via Ponzio 34/5, 20133 Milano, Italy;4. SKF Automotive Division, Nieuwegein 3430 DT, The Netherlands;1. University of Bayreuth, Mathematical Institute, Germany;2. Ruhr-University Bochum, Institute of Automation and Computer Control, Germany;1. German Aerospace Center (DLR), Oberpfaffenhofen, Germany;2. AIRBUS Flight Control Systems, Toulouse, France;3. DEIMOS-SPACE S.L.U., Madrid, Spain (now with the University of Bristol) |
| |
Abstract: | This paper investigates the potential of load based vehicle sideslip estimation. Different techniques to measure tyre forces have been presented over the years; so far no technique has made it to the market. This paper considers a new technology based on load sensing bearings, which provides tyre force measurements. Based on the features of the sensor, a vehicle sideslip angle estimator is designed, analyzed and tested. The paper shows that direct tyre force sensing has mainly two advantages over traditional model-based estimators: primarily, it avoids the use of tyre models, which are heavily affected by uncertainties and modeling errors and secondarily, providing measurements on the road plane, it is less prone to errors introduced by roll and pitch dynamics. Extensive simulation tests along with a detailed analysis of experimental tests performed on an instrumented vehicle prove that the load based estimation outperforms the kinematic model-based benchmark yielding a root mean square error of 0.15°. |
| |
Keywords: | Vehicle sideslip Kalman filter State estimation Observability Load sensing bearing |
本文献已被 ScienceDirect 等数据库收录! |
|