State and maximum friction coefficient estimation in vehicle dynamics using UKF

verfasst von

Mark Wielitzka, Matthias Dagen, Tobias Ortmaier

Abstract

Advanced driver assistance systems in modern vehicles have gained interest in the past decades. Most of these systems rely decisively on knowledge of the vehicle's state and influential parameters. Due to changing system or environmental conditions the functionality of these systems may lead to decreased performance or even failure. Especially, the road condition, represented by the maximum friction coefficient, essentially influencing the interaction of tires and road, has major influence on the vehicle's behavior. Therefore, a vast improvement of the assistance systems' performance can be achieved by online maximum friction coefficient estimation. In this paper a simultaneous online estimation of the vehicle's state and maximum friction coefficient is presented using a joint Unscented Kalman Filter. The state and friction estimation results are validated by comparing to measurements taken on a Volkswagen Golf GTE Plug-In Hybrid and offline identified values, respectively.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

4322-4327

Anzahl der Seiten

6

Publikationsdatum

29.06.2017

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.23919/acc.2017.7963620 (Zugang: Geschlossen)