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| Tekkaya, A. Erman |
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| Förster, Peter |
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| Mudimu, George T. |
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| Shibata, Lillian Marie |
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| Talabbeydokhti, Nasser |
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| Laffite, Ernesto Dante Rodriguez |
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| Schöpke, Benito |
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| Gobis, Anna |
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| Alfares, Hesham K. |
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| Münzel, Thomas |
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| Joy, Gemini Velleringatt |
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| Oubahman, Laila |
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| Filali, Youssef |
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| Philippi, Paula |
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| George, Alinda |
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| Lucia, Caterina De |
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| Avril, Ludovic |
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| Belachew, Zigyalew Gashaw |
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| Kassens-Noor, Eva | Darmstadt |
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| Cho, Seongchul |
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| Tonne, Cathryn |
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| Hosseinlou, Farhad |
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| Ganvit, Harsh |
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| Schmitt, Konrad Erich Kork |
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| Grimm, Daniel |
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Doumiati, Moustapha
in Cooperation with on an Cooperation-Score of 37%
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Publications (14/14 displayed)
- 2017Road profile estimation using an adaptive Youla- Kučera parametric observer: comparison to real profilerscitations
- 2014Robust LPV control for vehicle steerability and lateral stability
- 2013Global chassis control using coordinated control of braking/steering actuatorscitations
- 2013Integrated vehicle dynamics control via coordination of active front steering and rear braking
- 2013Integrated vehicle dynamics control via coordination of active front steering and rear brakingcitations
- 2012Road safety: Embedded observers for estimation of vehicle vertical tire forcescitations
- 2011Onboard Real-Time Estimation of Vehicle Lateral Tire-Road Forces and Sideslip Angle
- 2011Vehicle yaw control via coordinated use of steering/braking systems
- 2010Tire/road friction coefficient estimation applied to road safety
- 2010LPV/Hinf controller for vehicle handling and stability enhancement
- 2010LPV/Hinf controller for vehicle handling and stability enhancement
- 2010Gain-scheduled LPV/Hinf controller based on direct yaw moment and active steering for vehicle handling improvements
- 2010Observers for vehicle tire/road forces estimation: experimental validationcitations
- 2009Estimation of vehicle lateral tire-road forces: a comparison between extended and unscented Kalman filtering
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article
Onboard Real-Time Estimation of Vehicle Lateral Tire-Road Forces and Sideslip Angle
Abstract
The principal concerns in driving safety with standard vehicles or cybercars are understanding and preventing risky situations. A close examination of accident data reveals that losing control of the vehicle is the main reason for most car accidents. To help to prevent such accidents, vehicle-control systems may be used, which require certain input data concerning vehicledynamic parameters and vehicle-road interaction. Unfortunately, some fundamental parameters, like tire-road forces and sideslip angle are difficult to measure in a car, for both technical and economic reasons. Therefore, this study presents a dynamic modeling and observation method to estimate these variables. One of the major contributions of this study, with respect to our previous work and to the largest literature in the field of the lateral dynamic estimation, is the fact that lateral tire force at each wheel is discussed in details. To address system nonlinearities and unmodeled dynamics, two observers derived from extended and unscented Kalman filtering techniques are proposed and compared. The estimation process method is based on the dynamic response of a vehicle instrumented with available and potentially integrable sensors. Performances are tested using an experimental car. Experimental results demonstrate the ability of this approach to provide accurate estimations, and show its practical potential as a low-cost solution for calculating lateral tire forces and sideslip angle. Lateral tire-road forces, sideslip angle, state observers, vehicle dynamics.
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