Vehicle Sideslip Angle EKF Estimator based on Nonlinear Vehicle Dynamics Model and Stochastic Tire Forces Modeling
SAE paper #2014-01-0144, SAE International Journal of Passenger Cars - Mechanical Systems, Vol. 7, No. 1, pp. 86-952014This paper presents the extended Kalman filter-based sideslip angle estimator design using a nonlinear 5DoF single-track vehicle dynamics model with stochastic modeling of tire forces. Lumped front and rear tire forces have been modeled as first-order random walk state variables. The proposed estimator is primarily designed for vehicle sideslip angle estimation; however it can also be used for estimation of tire forces and cornering stiffness. This estimator design does not rely on linearization of the tire force characteristics, it is robust against the variations of the tire parameters, and does not require the information on coefficient of friction. The estimator performance has been first analyzed by means of computer simulations using the 10DoF two-track vehicle dynamics model and underlying magic formula tire model, and then experimentally validated by using data sets recorded on a test vehicle. sideslip angle; estimation; Kalman filter; stochastic tire force modeling
Cited by 31
▾
-
[1]
Model Validity in Observers: When to Increase the Complexity of Your Model?🔗
IEEE Transactions on Control Systems Technology, 2025
-
[2]
Hybrid modeling of multibody vehicles with partially known physics: discovering complex behaviors of tires🔗
Multibody system dynamics, 2024
-
[3]
Longitudinal Tire Force Estimation of a Robotic Vehicle with Articulated Suspension: An Experimental Model-Based Approach with Localization Using Two GPS Modules🔗
International Conference on Control, Automation and Systems, 2023
-
[4]
Force sensors for active safety, stability enhancement and lightweight construction of road vehicles🔗
Vehicle System Dynamics, 2023
-
[5]
A Systematic Survey of Control Techniques and Applications in Connected and Automated Vehicles🔗
IEEE Internet of Things Journal, 2023
-
[6]
Observer-based lateral stability adaptive control method for distributed drive electric vehicles🔗
Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering, 2022
-
[7]
Detection and Mitigation of Sensor and CAN Bus Attacks in Vehicle Anti-Lock Braking Systems🔗
ACM Trans. Cyber Phys. Syst., 2022
-
-
[9]
State estimation and experimental verification of a robotic vehicle with six in-wheel drives using Kalman filter🔗
Microsystem Technologies, 2021
-
[10]
Attack Detection and Mitigation for Sensor and CAN Bus Attacks in Vehicle Anti-lock Braking Systems🔗
International Conference on Computer Communications and Networks, 2020
-
[11]
Experimental Analysis of Kalman Filter-Based Vehicle Sideslip Angle Estimation Accuracy and Related Error-Compensation Techniques🔗
International Instrumentation and Measurement Technology Conference, 2020
-
-
[13]
Comparison of neural network and neurofuzzy identification of vehicle handling under uncertainties🔗
Transactions of the Institute of Measurement and Control, 2019
-
-
-
[16]
Tire lateral force estimation and grip potential identification using Neural Networks, Extended Kalman Filter, and Recursive Least Squares🔗
Neural computing & applications (Print), 2018
-
[17]
On tyre force virtual sensing for future Automated Vehicle-Based Objective Tyre Testing (AVBOTT)🔗
Vehicle System Dynamics, 2018
-
[18]
Optimized Vehicle Dynamics Virtual Sensing Using Metaheuristic Optimization and Unscented Kalman Filter🔗
Computational Methods in Applied Sciences, 2018
-
[19]
Teaching a vehicle to autonomously drift: A data-based approach using Neural Networks🔗
Knowledge-Based Systems, 2018
-
[20]
Robust Virtual Sensing for Vehicle Agile Manoeuvring: A Tyre-Model-Less Approach🔗
IEEE Transactions on Vehicular Technology, 2018
-
-
-
[23]
Optimized tire force estimation using extended Kalman filter and fruit fly optimization🔗
Annual Conference of the IEEE Industrial Electronics Society, 2017
-
[24]
Robust brake linings friction coefficient estimation for enhancement of ehb control🔗
International Symposium on Information, Communication and Automation Technologies, 2017
-
[25]
Vehicle Dynamics Virtual Sensing Using Unscented Kalman Filter: Simulations and Experiments in a Driver-in-the-Loop Setup🔗
International Conference on Informatics in Control, Automation and Robotics, 2017
-
[26]
A Virtual Sensor for Integral Tire Force Estimation using Tire Model-less Approaches and Adaptive Unscented Kalman Filter🔗
International Conference on Informatics in Control, Automation and Robotics, 2017
-
-
[28]
Development and evaluation of torque distribution methods for four-wheel independent-drive electric vehicle based on parameter estimation🔗
Advances in Mechanical Engineering, 2019
-
-
-
SAE paper #2014-01-0144, SAE International Journal of Passenger Cars - Mechanical Systems, Vol. 7, No. 1, pp. 86-95
2014
Cited by 31
▾
-
[1] Model Validity in Observers: When to Increase the Complexity of Your Model?🔗IEEE Transactions on Control Systems Technology, 2025
-
[2] Hybrid modeling of multibody vehicles with partially known physics: discovering complex behaviors of tires🔗Multibody system dynamics, 2024
-
[3] Longitudinal Tire Force Estimation of a Robotic Vehicle with Articulated Suspension: An Experimental Model-Based Approach with Localization Using Two GPS Modules🔗International Conference on Control, Automation and Systems, 2023
-
[4] Force sensors for active safety, stability enhancement and lightweight construction of road vehicles🔗Vehicle System Dynamics, 2023
-
[5] A Systematic Survey of Control Techniques and Applications in Connected and Automated Vehicles🔗IEEE Internet of Things Journal, 2023
-
[6] Observer-based lateral stability adaptive control method for distributed drive electric vehicles🔗Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering, 2022
-
[7] Detection and Mitigation of Sensor and CAN Bus Attacks in Vehicle Anti-Lock Braking Systems🔗ACM Trans. Cyber Phys. Syst., 2022
-
[9] State estimation and experimental verification of a robotic vehicle with six in-wheel drives using Kalman filter🔗Microsystem Technologies, 2021
-
[10] Attack Detection and Mitigation for Sensor and CAN Bus Attacks in Vehicle Anti-lock Braking Systems🔗International Conference on Computer Communications and Networks, 2020
-
[11] Experimental Analysis of Kalman Filter-Based Vehicle Sideslip Angle Estimation Accuracy and Related Error-Compensation Techniques🔗International Instrumentation and Measurement Technology Conference, 2020
-
[13] Comparison of neural network and neurofuzzy identification of vehicle handling under uncertainties🔗Transactions of the Institute of Measurement and Control, 2019
-
[16] Tire lateral force estimation and grip potential identification using Neural Networks, Extended Kalman Filter, and Recursive Least Squares🔗Neural computing & applications (Print), 2018
-
[17] On tyre force virtual sensing for future Automated Vehicle-Based Objective Tyre Testing (AVBOTT)🔗Vehicle System Dynamics, 2018
-
[18] Optimized Vehicle Dynamics Virtual Sensing Using Metaheuristic Optimization and Unscented Kalman Filter🔗Computational Methods in Applied Sciences, 2018
-
[19] Teaching a vehicle to autonomously drift: A data-based approach using Neural Networks🔗Knowledge-Based Systems, 2018
-
[20] Robust Virtual Sensing for Vehicle Agile Manoeuvring: A Tyre-Model-Less Approach🔗IEEE Transactions on Vehicular Technology, 2018
-
[23] Optimized tire force estimation using extended Kalman filter and fruit fly optimization🔗Annual Conference of the IEEE Industrial Electronics Society, 2017
-
[24] Robust brake linings friction coefficient estimation for enhancement of ehb control🔗International Symposium on Information, Communication and Automation Technologies, 2017
-
[25] Vehicle Dynamics Virtual Sensing Using Unscented Kalman Filter: Simulations and Experiments in a Driver-in-the-Loop Setup🔗International Conference on Informatics in Control, Automation and Robotics, 2017
-
[26] A Virtual Sensor for Integral Tire Force Estimation using Tire Model-less Approaches and Adaptive Unscented Kalman Filter🔗International Conference on Informatics in Control, Automation and Robotics, 2017
-
[28] Development and evaluation of torque distribution methods for four-wheel independent-drive electric vehicle based on parameter estimation🔗Advances in Mechanical Engineering, 2019