Transactions of the Institute of Measurement and Control · 2007 · 30 citations · 13 references
EngineeringAutomotive EngineeringSystems EngineeringVehicle DynamicsVehicle Safety EngineeringVehicle TestingAutomotive SensorsKalman FilteringLateral Vehicle DynamicsVehicle ControlVehicle Control SystemsVehicle StabilityAutomotive Safety SystemsControl AlgorithmsExtended Kalman FilterExtended Kalman FilteringKalman Filter EstimationMotion State EstimationStability Control SystemsVehicle State Estimation
This paper demonstrates the use of an extended Kalman filter (KF) as a virtual sensor for non-measurable vehicle states and unknown vehicle parameters. The purpose of obtaining these values is to make them available within the control algorithms of the various automotive stability systems. Based on an extensive four-wheel vehicle model, an estimator is implemented on data from a test vehicle. Using available reference data, the suitability of the extended KF technique as a virtual sensor is demonstrated.
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