Credibility of State and Friction Coefficient Estimation in Vehicle Dynamics using UKF

verfasst von

Mark Wielitzka, Tobias Ortmaier

Abstract

Automated and cooperate driving is one of the most promising but yet challenging tasks of future technology. For the realization of systems guaranteeing safe and comfortable automated driving, information about the vehicle and the vehicle's environment is necessary. Therefore, an estimation of the vehicle's dynamic state and the maximum friction coefficient between tires and road is crucial. Moreover, an estimation of the reliability of state and friction coefficient estimation is indispensable for continuative use of these information.In this paper the UKF for state and friction coefficient estimation is utilized, based on a highly nonlinear model of the vehicle's dynamics. An additional interval estimation for reliability examination, using credibility intervals, is introduced. Subsequently, the results are presented and discussed in simulation considering lateral dynamics maneuvers for state and friction coefficient estimation. Thereafter, an experimental validation utilizing a Volkswagen Golf GTE Plug-In Hybrid is presented and the results are discussed.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

3922-3927

Anzahl der Seiten

6

Publikationsdatum

12.2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Modellierung und Simulation, Steuerung und Optimierung

Elektronische Version(en)

https://doi.org/10.1109/cdc40024.2019.9029895 (Zugang: Geschlossen)