Details
| Original language | English |
|---|---|
| Title of host publication | 2016 American Control Conference, ACC 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 6899-6904 |
| Number of pages | 6 |
| ISBN (electronic) | 9781467386821 |
| Publication status | Published - 28 Jul 2016 |
| Event | 2016 American Control Conference, ACC 2016 - Boston, United States Duration: 6 Jul 2016 → 8 Jul 2016 |
Abstract
Advanced driver assistance systems in modern vehicles have gained interest in the past decades. For most of these systems accurate knowledge about the current driving state, describing the vehicle's stability is necessary. Especially information about the vehicle's sideslip angle and rate can improve the performance of many assistance systems, e.g. Electronic Stability Program (ESP). Since the sideslip angle can not be measured directly or only under high cost, online estimation is proposed. Based on measurements taken on a Volkswagen Golf GTE Plug-In Hybrid assumptions for the process noise are made. Considering these noise characteristics in simulation using a detailed nonlinear vehicle dynamic model, the Unscented Kalman Filter in general and additive form is implemented for sideslip angle estimation. Their performance is compared considering various maneuvers.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
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2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 6899-6904 7526759.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics
AU - Wielitzka, Mark
AU - Dagen, Matthias
AU - Ortmaier, Tobias
PY - 2016/7/28
Y1 - 2016/7/28
N2 - Advanced driver assistance systems in modern vehicles have gained interest in the past decades. For most of these systems accurate knowledge about the current driving state, describing the vehicle's stability is necessary. Especially information about the vehicle's sideslip angle and rate can improve the performance of many assistance systems, e.g. Electronic Stability Program (ESP). Since the sideslip angle can not be measured directly or only under high cost, online estimation is proposed. Based on measurements taken on a Volkswagen Golf GTE Plug-In Hybrid assumptions for the process noise are made. Considering these noise characteristics in simulation using a detailed nonlinear vehicle dynamic model, the Unscented Kalman Filter in general and additive form is implemented for sideslip angle estimation. Their performance is compared considering various maneuvers.
AB - Advanced driver assistance systems in modern vehicles have gained interest in the past decades. For most of these systems accurate knowledge about the current driving state, describing the vehicle's stability is necessary. Especially information about the vehicle's sideslip angle and rate can improve the performance of many assistance systems, e.g. Electronic Stability Program (ESP). Since the sideslip angle can not be measured directly or only under high cost, online estimation is proposed. Based on measurements taken on a Volkswagen Golf GTE Plug-In Hybrid assumptions for the process noise are made. Considering these noise characteristics in simulation using a detailed nonlinear vehicle dynamic model, the Unscented Kalman Filter in general and additive form is implemented for sideslip angle estimation. Their performance is compared considering various maneuvers.
UR - http://www.scopus.com/inward/record.url?scp=84992124314&partnerID=8YFLogxK
U2 - 10.1109/acc.2016.7526759
DO - 10.1109/acc.2016.7526759
M3 - Conference contribution
AN - SCOPUS:84992124314
SP - 6899
EP - 6904
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -