Application of the Extended Kalman Filter to a Planar Vehicle Model to Predict the Onset of Jackknife Instability 2004-01-1785
The widely used Extended Kalman Filter (EKF) is applied to a planar model of an articulated vehicle to predict jackknifing events. The states of hitch angle and hitch angle rate are estimated using a vehicle model and the available or “measured” states of lateral acceleration and yaw rate from the prime mover. Tuning, performance, and compromises for the EKF in this application are discussed. This application of the EKF is effective in predicting the onset of instability for an articulated vehicle under low-μ and low-load conditions. These conditions have been shown to be most likely to render heavy articulated vehicles vulnerable to jackknife instability. Options for model refinements are also presented.
Citation: Dunn, A., Heydinger, G., Rizzoni, G., and Guenther, D., "Application of the Extended Kalman Filter to a Planar Vehicle Model to Predict the Onset of Jackknife Instability," SAE Technical Paper 2004-01-1785, 2004, https://doi.org/10.4271/2004-01-1785. Download Citation
Ashley L. (Al) Dunn, Gary J. Heydinger, Giorgio Rizzoni, Dennis A. Guenther
The Ohio State University
SAE 2004 World Congress & Exhibition
SAE 2004 Transactions Journal of Passenger Cars: Mechanical Systems-V113-6