Design of a Robust Tyre Force Estimator Using an Extended Kalman Filter 2005-01-0402
This paper will present a method of estimating tyre friction force using an extended Kalman filter (EKF). A review of current and proposed methods for tyre force estimation from the literature will be given. The EKF developed will estimate vehicle motions and tyre forces as state estimates from a noisy measurement set. The tyre forces will be compared to those from a high order vehicle model with non-linear tyres, which is subjected to the same tests as the measured vehicle, in order to validate the estimated forces. The robustness of the estimator to noise and input errors will be tested. The ultimate aim of this work is to provide estimates of tyre forces to a controller such as ABS or TCS.
Citation: Wilkin, M., Crolla, D., Levesley, M., and Manning, W., "Design of a Robust Tyre Force Estimator Using an Extended Kalman Filter," SAE Technical Paper 2005-01-0402, 2005, https://doi.org/10.4271/2005-01-0402. Download Citation
Author(s):
Matthew A. Wilkin, David C. Crolla, Martin C. Levesley, Warren J. Manning
Affiliated:
University of Leeds, Manchester Metropolitan University
Pages: 8
Event:
SAE 2005 World Congress & Exhibition
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Technical review
Noise
SAE MOBILUS
Subscribers can view annotate, and download all of SAE's content.
Learn More »
