Robust vehicle state and tire force estimation: Highlights on effects of road angles and sensor performance
2021 IEEE Intelligent Vehicles Symposium (IV)(2021)
摘要
This study presents an Extended Kalman Filter for estimation of vehicle planar velocities and tire forces. For this, a 10 Degrees of Freedom vehicle model is used together with onboard sensors. To gain robustness, the estimator considers unknown road angles. The method is validated using data gathered with a test vehicle driving over graded and banked roads and driving a demanding test provoking s...
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关键词
Adaptation models,Roads,Force,Estimation,Wheels,Tires,Robustness
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