Estimation Methods Based on Kalman Filtering

Doumiati, Moustapha; Charara, Ali; Victorino, Alessandro Corrêa; Lechner, Daniël; Dubuisson, Bernard

doi:10.1002/9781118578988.ch2

Cited by 13 publications

(48 citation statements)

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“…However, adjustment of the model is required each time new data is presented [2]. Doumiati et al [3,4], implemented virtual sensors to estimate the lateral tire force and sideslip angle, from a simplified four-wheel vehicle model. Despite the fact the experimental results show the potential of the estimation method, it needs to measure the data from the on-board vehicle sensors to estimate the tire parameters.…”

Section: Introductionmentioning

confidence: 99%

A Strain-Based Method to Estimate Tire Parameters for Intelligent Tires under Complex Maneuvering Operations

Mendoza-Petit

García-Pozuelo

Díaz

et al. 2019

Sensors

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The possibility of using tires as active sensors opens the door to a huge number of different ways to accomplish this goal. In this case, based on a tire equipped with strain sensors, also known as an Intelligent Tire, relevant vehicle dynamics information can be provided. The purpose of this research is to improve the strain-based methodology for Intelligent Tires to estimate all tire forces, based only on deformations measured in the contact patch. Firstly, through an indoor test rig data, an algorithm has been developed to pick out the relevant features of strain data and correlate them with tire parameters. This information of the tire contact patch is then transmitted to a fuzzy logic system to estimate the tire parameters. To evaluate the reliability of the proposed estimator, the well-known simulation software CarSim has been used to back up the estimation results. The software CarSim has been used to provide the vehicle parameters in complex maneuvers. Finally, the estimations have been checked with the simulation results. This approach has enabled the behaviour of the intelligent tire to be tested for different maneuvers and velocities, providing key information about the tire parameters directly from the only contact that exists between the vehicle and the road.

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Section: Introductionmentioning

confidence: 99%

A Strain-Based Method to Estimate Tire Parameters for Intelligent Tires under Complex Maneuvering Operations

Mendoza-Petit

García-Pozuelo

Díaz

et al. 2019

Sensors

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“…This approach is often carried out in the form of a state estimator, in which the measured signals are used to correct the states predicted by the vehicle model. 3 Ideally, in order to represent the chassis responses accurately, the best solution would be to measure directly the forces generated at the tyre contact patch. According to the literature reviewed, there exist three major solutions to achieve this task: smart tyres , 4,5 load-sensing hub bearings ( LSB ) 6,7 and wheel force transducers ( WFT ), 8,9 Figure 1.…”

Section: Introductionmentioning

confidence: 99%

“…Concerning observation-based approaches, two trends are clearly differentiated depending on whether a specific tyre model is employed: tyre model-based approaches and tyre model-less approaches, Figure 3. In the former group, an empirical 27 or physical 3,10,28 tyre model is used to compute the tyre forces from a number of tyre states (normally longitudinal slip κ, lateral slip α, vertical force F z and wheel inclination angle γ), 29 and the tyre model parameters need to be known a priori. Depending on the model complexity and the differences between the tyre characterisation testbed and the real functioning conditions, the force estimation will be subjected to a degree of uncertainty.…”

Section: Introductionmentioning

confidence: 99%

“…30,31 These variables are integrated into a state estimator that contains the vehicle planar dynamics equations (often in the form of an extended Kalman filter, EKF ), and the estimation is achieved by correcting the states predicted by the model in the measurement update stage of the filter. 3 The success of these solutions will depend on the uncertainties associated with the plant (vehicle parameters and planar dynamics equations), and the noise carried by the measured signal. Another solution adopted in the literature is to use an open loop observer or a recursive linear estimator based on the vehicle dynamics equations.…”

Section: Introductionmentioning

confidence: 99%

“…Contrary to the brush model described previously, the Dugoff formulation considers individual tread stiffness depending on the tyre slip direction ( C κ , C α ). Firstly, a factor λ is defined to account for the coupling between lateral and longitudinal forces: 3,16…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Virtual tyre force sensors: An overview of tyre model-based and tyre model-less state estimation techniques

Acosta

Kanarachos

Blundell

2017

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper presents a comprehensive literature review on tyre force estimation and road grip recognition approaches. With the development of modern automotive control systems, a precise estimation of a large number of vehicle states is necessary to guarantee a robust actuation of the controller. Moreover, the estimation of these states must be carried out in a cost-effective and reliable way. The aim of this work is to provide a solid base for the development of automotive virtual sensors, and in particular, virtual tyre force sensors. An initial overview of the tyre force estimation problem is provided in the first section. Tyre and vehicle modelling, as well as observers for vehicle state estimation, are covered in detail in the second section. The third section introduces a brief discussion regarding the main limitations of direct tyre force measurement approaches. In the following sections, relevant works regarding three-axis tyre force estimation and road grip recognition are discussed. The review is structured around longitudinal force estimation, lateral force estimation, combined tyre force estimation, tyre self-alignment torque estimation and vertical tyre force estimation. Within each section, the most significant road grip identification approaches are introduced. An additional section, Road slope and bank angle compensation, describes relevant work on estimation methods for global chassis orientation. A brief summary of the presented approaches is provided in the section Summary of presented approaches. Finally, relevant conclusions and further research steps are given in the last section.

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State and Unknown Terrain Estimation for Planetary Rovers via Interval Observers

Khajenejad

Jin

Yong

2021

Advanced Intelligent Systems

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Herein, the problem of state and unknown terrain estimation is considered, where the unknown planetary terrain parameters, e.g., terrain stiffness and ground height, are inferred from how it affects rover motion through vehicle‐terrain interaction. In particular, an alternative framework for terrain estimation based on set‐valued or set‐membership estimation is proposed, where the goal is to find set‐valued estimates (in the form of hyper‐rectangles or intervals) of the states and unknown terrain parameters. For this purpose, a state and model interval observer is designed for partially unknown nonlinear systems with bounded noise. By leveraging a combination of nonlinear bounding/decomposition functions, affine abstractions, and a data‐driven function abstraction method (to overestimate the unknown dynamics model from noisy input–output data), the proposed observer is capable of simultaneously estimating the states and learning the unknown dynamics. Further, a tractable sufficient condition is derived for guaranteeing the stability of the designed observer, i.e., such that the sequence of interval estimate widths are uniformly bounded. When applied to the state and unknown terrain estimation problem, the simulation results indicate that our approach can more reliably find the range of possible terrain parameters when compared with the cubature Kalman filter.

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Estimation Methods Based on Kalman Filtering

Cited by 13 publications

References 0 publications

A Strain-Based Method to Estimate Tire Parameters for Intelligent Tires under Complex Maneuvering Operations

A Strain-Based Method to Estimate Tire Parameters for Intelligent Tires under Complex Maneuvering Operations

Virtual tyre force sensors: An overview of tyre model-based and tyre model-less state estimation techniques

State and Unknown Terrain Estimation for Planetary Rovers via Interval Observers

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