State and Parameter Estimation in a Semitrailer for Different Loading Conditions Only Based on Trailer Signals

verfasst von

Simon F. G. Ehlers, Zygimantas Ziaukas, Jan-Philipp Kobler, Hans-Georg Jacob

Abstract

For further development of assistance systems and autonomous systems for tractor-semitrailers, knowledge of relevant trailer states and parameters is necessary. However, the trailer is sparsely equipped with sensors and the standardized communication between truck and trailer is reduced to braking signals. This paper presents an approach for estimating the lateral and vertical tire forces, roll behavior and articulation angle of the trailer for different loading conditions solely based on trailer signals using an Unscented Kalman Filter (UKF). Due to missing information from the truck, the varying mass and center of gravity (COG) based on different loading conditions must be estimated only on trailer signals. The investigation on structural observability shows that an estimation of all unknown parameters with the UKF is not possible. Thus, the usage of a substitute mass and COG is necessary and calculated based on the trailer's axle load and domain knowledge of the usual practical loading distribution. The method is validated for different substitute masses and COGs with experimental data from a fully and partially loaded trailer.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

BPW Bergische Achsen KG

Typ

Aufsatz in Konferenzband

Seiten

2353-2360

Anzahl der Seiten

8

Publikationsdatum

2022

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.23919/ACC53348.2022.9867797 (Zugang: Geschlossen)