Vehicle Lateral State Estimation Based on Measured Tyre Forces 英文参考文献.docVIP

Sensors 2009, 9, 8761-8775; doi:10.3390/OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Vehicle Lateral State Estimation Based on Measured Tyre Forces Ari J. Tuononen Laboratory of Automotive Engineering, Helsinki University of Technology, P.O. Box 4300, 02015 TKK, Finland; E-Mail: ari.tuononen@tkk.fi; Tel.: +358-50 5604702; Fax: +358-9 4513469 Received: 16 September 2009; in revised form: 14 October 2009 / Accepted: 21 October 2009 / Published: 30 October 2009 Abstract: Future active safety systems need more accurate information about the state of vehicles. This article proposes a method to evaluate the lateral state of a vehicle based on measured tyre forces. The tyre forces of two tyres are estimated from optically measured tyre carcass deflections and transmitted wirelessly to the vehicle body. The two remaining tyres are so-called virtual tyre sensors, the forces of which are calculated from the real tyre sensor estimates. The Kalman filter estimator for lateral vehicle state based on measured tyre forces is presented, together with a simple method to define adaptive measurement error covariance depending on the driving condition of the vehicle. The estimated yaw rate and lateral velocity are compared with the validation sensor measurements. Keywords: optical position detection; intelligent tyre; tyre sensor; vehicle state estimation 1. Introduction The vehicle state estimation has been a subject for numerous papers, especially because of the large scale market penetration of Electronic Stability Control (ESC) systems. Even then, more accurate and reliable vehicle state information is needed for upcoming active control applications such as active steering (front and rear), lane keeping and torque vectoring. The main disadvantage of most of the vehicle state estimation approaches is the requirement for prior knowledge of tyre parameters such as cornering stiffness and frict