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Vehicle state estimation for anti-lock control with nonlinear observer
Affiliation:1. Robert Bosch GmbH, DGS-EC/ESA, 70469 Stuttgart-Feuerbach, Germany;2. Bosch Rexroth AG, DC-MA/EMF, 71701 Schwieberdingen, Germany;3. Chair of Systems Theory and Control Engineering, Saarland University, 66123 Saarbrücken, Germany;4. Robert Bosch GmbH, CC-AS/ESY, 74232 Abstatt, Germany;1. Department of Electrical and Computer Engineering, University of British Columbia, Vancouver BC;2. Department of Chemical and Biological Engineering, University of British Columbia, Vancouver BC;3. Department of Mathematics, University of British Columbia, Vancouver BC;4. Honeywell Process Solutions, North Vancouver BC;1. Technical University of Catalonia, Barcelonatech, Department of Hydraulic, Maritime and Environmental Engineering, Jordi Girona 1, Barcelona 08032, Spain;2. Technical University of Catalonia, Barcelonatech, Department of Applied Mathematics III, Jordi Girona 1, Barcelona 08034, Spain;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. School of Mechanical Engineering, Southeast University, Nanjing 211189, PR China;2. Department of Mechanical Engineering, McMaster University, Hamilton, ON, Canada L8S 4L7;1. The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People’s Republic of China;2. School of Engineering and Technology, China University of Geoscience (Beijing), Beijing 100083, People’s Republic of China
Abstract:Vehicle state estimation during anti-lock braking is considered. A novel nonlinear observer based on a vehicle dynamics model and a simplified Pacejka tire model is introduced in order to provide estimates of longitudinal and lateral vehicle velocities and the tire-road friction coefficient for vehicle safety control systems, specifically anti-lock braking control. The approach differs from previous work on vehicle state estimation in two main respects. The first is the introduction of a switched nonlinear observer in order to deal with the fact that in some driving situations the information provided by the sensor is not sufficient to carry out state estimation (i.e., not all states are observable). This is shown through an observability analysis. The second contribution is the introduction of tire-road friction estimation depending on vehicle longitudinal motion. Stability properties of the observer are analyzed using a Lyapunov function based method. Practical applicability of the proposed nonlinear observer is shown by means of experimental results.
Keywords:Vehicle state estimation  Anti-lock control  Nonlinear observer  Switched control system
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