A Virtual Sensor for Integral Tire Force Estimation using Tire Model-Less Approaches and Adaptive Unscented Kalman Filter

Manuel Acosta, Stratis Kanarachos, Michael E. Fitzpatrick

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    22 Citations (Scopus)

    Abstract

    In this paper, a novel approach to estimate the longitudinal, lateral and vertical tire forces is presented. The innovation lies a) in the proposition of a modular state estimation architecture that lessens the tuning effort and ensures the filter’s stability and b) in the estimation of the longitudinal velocity relying only on the wheel speed information.The longitudinal forces are estimated using an Adaptive Random-Walk Linear Kalman Filter. The lateral forces per axle are estimated by combining an Adaptive Unscented Kalman filter and Neural Networks. The individual tire lateral forces are inferred from the axle lateral forces using the vertical load proportionality principle. The individual tire vertical forces are estimated using a steady-state weight transfer approach, in which the roll stiffness distribution is considered. The state estimator is implemented in Simulink R and simulations are carried out in the vehicle dynamics simulation software IPG CarMaker R . The virtual sensor is tested in aggressive and steady-state maneuvers, exhibiting in both cases a remarkable performance.
    Original languageEnglish
    Title of host publicationICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
    PublisherSciTePress
    Pages386-397
    Number of pages12
    Volume1
    ISBN (Electronic)9789897582639
    DOIs
    Publication statusPublished - 26 Jul 2017
    Event14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spain
    Duration: 26 Jul 201728 Jul 2017
    http://www.ieee-ras.org/component/rseventspro/event/1040-icinco-2017-international-conference-on-informatics-in-control-automation-and-robotics

    Conference

    Conference14th International Conference on Informatics in Control, Automation and Robotics
    Abbreviated titleICINCO 2017
    Country/TerritorySpain
    CityMadrid
    Period26/07/1728/07/17
    Internet address

    Keywords

    • Virtual Sensors
    • Neural Networks
    • Adaptive Kalman Filter
    • Unscented Kalman Filter
    • Tire force estimation

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Control and Systems Engineering

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