Vehicle Side Slip Angle Observation with Road Friction Adaptation

Chi Jin, Liang Shao, Cornelia Lex, Arno Eichberger

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Abstract

Side-slip angle is an important variable indispensable for some advanced automotive vehicle control systems. However, due to technical and economic reasons, this variable is often estimated rather than directly measured. In this paper we address the observer design problem for estimating the side-slip angle and the unknown road friction coefficient, based on measured signals from sensors common to modern series-production automobiles. We formulate state and parameter estimation as a non-convex optimization problem. By interweaving discrete time solution of the optimization and continuous integration of sensor data, our scheme allows for sufficient time for finding the global optima approximately through a grid-search. Consequently, despite the non-convex optimization we are facing, our observation scheme is able to run in real time. We show some desirable properties of the proposed scheme concerning the stability and convergence of estimation error. One advantage of our observer is that for the nominal model the estimation error does not grow even when the system lacks observability. Simulation shows that the proposed observer provides very accurate estimation in challenging scenarios where the vehicle executes extreme maneuvers and measured signals are corrupted by noise.
Originalspracheenglisch
Titel20th IFAC World Congress
Herausgeber (Verlag)Elsevier B.V.
Seiten3406-3411
Seitenumfang6
ISBN (elektronisch)2405-8963
DOIs
PublikationsstatusVeröffentlicht - 2017
VeranstaltungThe 20th World Congress of the International Federation of Automatic Control - Pierre Baudis Congress Center, Toulouse, Frankreich
Dauer: 9 Jul 201714 Jul 2017
https://www.ifac2017.org/

Publikationsreihe

NameIFAC-PapersOnLine
Band50

Konferenz

KonferenzThe 20th World Congress of the International Federation of Automatic Control
KurztitelIFAC World Congress 2017
LandFrankreich
OrtToulouse
Zeitraum9/07/1714/07/17
Internetadresse

Fingerprint

Friction
Error analysis
Convergence of numerical methods
Sensors
Observability
State estimation
Parameter estimation
Automobiles
Control systems
Economics

Schlagwörter

    ASJC Scopus subject areas

    • Fahrzeugbau

    Fields of Expertise

    • Mobility & Production

    Treatment code (Nähere Zuordnung)

    • Basic - Fundamental (Grundlagenforschung)

    Dies zitieren

    Jin, C., Shao, L., Lex, C., & Eichberger, A. (2017). Vehicle Side Slip Angle Observation with Road Friction Adaptation. in 20th IFAC World Congress (S. 3406-3411). (IFAC-PapersOnLine; Band 50). Elsevier B.V.. https://doi.org/10.1016/j.ifacol.2017.08.593

    Vehicle Side Slip Angle Observation with Road Friction Adaptation. / Jin, Chi; Shao, Liang; Lex, Cornelia; Eichberger, Arno.

    20th IFAC World Congress . Elsevier B.V., 2017. S. 3406-3411 (IFAC-PapersOnLine; Band 50).

    Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

    Jin, C, Shao, L, Lex, C & Eichberger, A 2017, Vehicle Side Slip Angle Observation with Road Friction Adaptation. in 20th IFAC World Congress . IFAC-PapersOnLine, Bd. 50, Elsevier B.V., S. 3406-3411, Toulouse, Frankreich, 9/07/17. https://doi.org/10.1016/j.ifacol.2017.08.593
    Jin C, Shao L, Lex C, Eichberger A. Vehicle Side Slip Angle Observation with Road Friction Adaptation. in 20th IFAC World Congress . Elsevier B.V. 2017. S. 3406-3411. (IFAC-PapersOnLine). https://doi.org/10.1016/j.ifacol.2017.08.593
    Jin, Chi ; Shao, Liang ; Lex, Cornelia ; Eichberger, Arno. / Vehicle Side Slip Angle Observation with Road Friction Adaptation. 20th IFAC World Congress . Elsevier B.V., 2017. S. 3406-3411 (IFAC-PapersOnLine).
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    AB - Side-slip angle is an important variable indispensable for some advanced automotive vehicle control systems. However, due to technical and economic reasons, this variable is often estimated rather than directly measured. In this paper we address the observer design problem for estimating the side-slip angle and the unknown road friction coefficient, based on measured signals from sensors common to modern series-production automobiles. We formulate state and parameter estimation as a non-convex optimization problem. By interweaving discrete time solution of the optimization and continuous integration of sensor data, our scheme allows for sufficient time for finding the global optima approximately through a grid-search. Consequently, despite the non-convex optimization we are facing, our observation scheme is able to run in real time. We show some desirable properties of the proposed scheme concerning the stability and convergence of estimation error. One advantage of our observer is that for the nominal model the estimation error does not grow even when the system lacks observability. Simulation shows that the proposed observer provides very accurate estimation in challenging scenarios where the vehicle executes extreme maneuvers and measured signals are corrupted by noise.

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