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Estimation of the Wheel-Ground Contacttire Forces using Extended Kalman Filter

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Abstract

To develop an effective vehicle control system, it is needed to estimate vehicle motions accurately. In the absence of commercially available transducers to measure the tire forces directly, various types of estimation methods have been investigated in the past. Most models in the literature usually use lowdegrees of freedom. In this paper, a new estimation process is proposed to estimate tire forces based on extended Kalman filter. These methods use the measurements from currently available standard sensors. For such estimation, a ten degree-of-freedom nonlinear vehicle model was developed. The estimated results are compared with the results obtained fromCarsim using the same parameter values to verify the proposed model.

Keywords: Estimation, Vehicle model, Tire force, Extended Kalman filter

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