Details
| Original language | English |
|---|---|
| Title of host publication | 2019 IEEE 58th Conference on Decision and Control, CDC 2019 |
| Subtitle of host publication | Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3922-3927 |
| Number of pages | 6 |
| ISBN (electronic) | 978-1-7281-1398-2 |
| ISBN (print) | 978-1-7281-1399-9 |
| Publication status | Published - Dec 2019 |
| Event | 58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| Volume | 2019-December |
| ISSN (Print) | 0743-1546 |
| ISSN (electronic) | 2576-2370 |
Abstract
Automated and cooperate driving is one of the most promising but yet challenging tasks of future technology. For the realization of systems guaranteeing safe and comfortable automated driving, information about the vehicle and the vehicle's environment is necessary. Therefore, an estimation of the vehicle's dynamic state and the maximum friction coefficient between tires and road is crucial. Moreover, an estimation of the reliability of state and friction coefficient estimation is indispensable for continuative use of these information.In this paper the UKF for state and friction coefficient estimation is utilized, based on a highly nonlinear model of the vehicle's dynamics. An additional interval estimation for reliability examination, using credibility intervals, is introduced. Subsequently, the results are presented and discussed in simulation considering lateral dynamics maneuvers for state and friction coefficient estimation. Thereafter, an experimental validation utilizing a Volkswagen Golf GTE Plug-In Hybrid is presented and the results are discussed.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Modelling and Simulation
- Mathematics(all)
- Control and Optimization
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2019 IEEE 58th Conference on Decision and Control, CDC 2019: Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 3922-3927 9029895 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Credibility of State and Friction Coefficient Estimation in Vehicle Dynamics using UKF
AU - Wielitzka, Mark
AU - Ortmaier, Tobias
PY - 2019/12
Y1 - 2019/12
N2 - Automated and cooperate driving is one of the most promising but yet challenging tasks of future technology. For the realization of systems guaranteeing safe and comfortable automated driving, information about the vehicle and the vehicle's environment is necessary. Therefore, an estimation of the vehicle's dynamic state and the maximum friction coefficient between tires and road is crucial. Moreover, an estimation of the reliability of state and friction coefficient estimation is indispensable for continuative use of these information.In this paper the UKF for state and friction coefficient estimation is utilized, based on a highly nonlinear model of the vehicle's dynamics. An additional interval estimation for reliability examination, using credibility intervals, is introduced. Subsequently, the results are presented and discussed in simulation considering lateral dynamics maneuvers for state and friction coefficient estimation. Thereafter, an experimental validation utilizing a Volkswagen Golf GTE Plug-In Hybrid is presented and the results are discussed.
AB - Automated and cooperate driving is one of the most promising but yet challenging tasks of future technology. For the realization of systems guaranteeing safe and comfortable automated driving, information about the vehicle and the vehicle's environment is necessary. Therefore, an estimation of the vehicle's dynamic state and the maximum friction coefficient between tires and road is crucial. Moreover, an estimation of the reliability of state and friction coefficient estimation is indispensable for continuative use of these information.In this paper the UKF for state and friction coefficient estimation is utilized, based on a highly nonlinear model of the vehicle's dynamics. An additional interval estimation for reliability examination, using credibility intervals, is introduced. Subsequently, the results are presented and discussed in simulation considering lateral dynamics maneuvers for state and friction coefficient estimation. Thereafter, an experimental validation utilizing a Volkswagen Golf GTE Plug-In Hybrid is presented and the results are discussed.
UR - http://www.scopus.com/inward/record.url?scp=85082447922&partnerID=8YFLogxK
U2 - 10.1109/cdc40024.2019.9029895
DO - 10.1109/cdc40024.2019.9029895
M3 - Conference contribution
AN - SCOPUS:85082447922
SN - 978-1-7281-1399-9
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3922
EP - 3927
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -