Details
| Original language | English |
|---|---|
| Title of host publication | 2019 American Control Conference, ACC 2019 |
| Subtitle of host publication | Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2509-2514 |
| Number of pages | 6 |
| ISBN (electronic) | 978-1-5386-7926-5 |
| ISBN (print) | 978-1-5386-7901-2 |
| Publication status | Published - Jul 2019 |
| Event | 2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: 10 Jul 2019 → 12 Jul 2019 |
Publication series
| Name | Proceedings of the American Control Conference |
|---|---|
| Volume | 2019-July |
| ISSN (Print) | 0743-1619 |
| ISSN (electronic) | 2378-5861 |
Abstract
Trailers of commercial vehicle combinations are sparsely equipped with intelligent electronic components compared to trucks. Therefore, in many cases necessary information for the development of intelligent systems for the trailer is not provided. Reasons for that may be missing sensors due to unprofitable costs or because the information is truck related and not passed to the trailer. Online model-based methods can be used to estimate the missing information. In this paper, an Extended Kalman Filter based on a nonlinear single track lateral dynamics model of a truck-semitrailer combination is designed. For the simultaneous estimation of the articulation angle and the truck's steering angle, representing an input to the system, the Extended Kalman Filter is enhanced towards an unknown input estimation approach. The measured signals for the algorithm are solely trailer related yaw rate and longitudinal speed. The method is applied to and validated on a real vehicle.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
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2019 American Control Conference, ACC 2019: Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2509-2514 8814348 (Proceedings of the American Control Conference; Vol. 2019-July).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Simultaneous estimation of steering and articulation angle in a truck-semitrailer combination solely based on trailer signals
AU - Ziaukas, Zygimantas
AU - Wielitzka, Mark
AU - Ortmaier, Tobias
AU - Kobler, Jan Philipp
N1 - The authors of the Institute of Mechatronic Systems would like to thank BPW Bergische Achsen KG for enabling the cooperative project simTrailer. Furthermore, Zygimantas Ziaukas would like to thank all the BPW staff helping to ac- complish the drive tests, particularly Dr. Jan-Philipp Kobler, Dr. Holger Steiner and the road test team in Brüchermühle.
PY - 2019/7
Y1 - 2019/7
N2 - Trailers of commercial vehicle combinations are sparsely equipped with intelligent electronic components compared to trucks. Therefore, in many cases necessary information for the development of intelligent systems for the trailer is not provided. Reasons for that may be missing sensors due to unprofitable costs or because the information is truck related and not passed to the trailer. Online model-based methods can be used to estimate the missing information. In this paper, an Extended Kalman Filter based on a nonlinear single track lateral dynamics model of a truck-semitrailer combination is designed. For the simultaneous estimation of the articulation angle and the truck's steering angle, representing an input to the system, the Extended Kalman Filter is enhanced towards an unknown input estimation approach. The measured signals for the algorithm are solely trailer related yaw rate and longitudinal speed. The method is applied to and validated on a real vehicle.
AB - Trailers of commercial vehicle combinations are sparsely equipped with intelligent electronic components compared to trucks. Therefore, in many cases necessary information for the development of intelligent systems for the trailer is not provided. Reasons for that may be missing sensors due to unprofitable costs or because the information is truck related and not passed to the trailer. Online model-based methods can be used to estimate the missing information. In this paper, an Extended Kalman Filter based on a nonlinear single track lateral dynamics model of a truck-semitrailer combination is designed. For the simultaneous estimation of the articulation angle and the truck's steering angle, representing an input to the system, the Extended Kalman Filter is enhanced towards an unknown input estimation approach. The measured signals for the algorithm are solely trailer related yaw rate and longitudinal speed. The method is applied to and validated on a real vehicle.
UR - http://www.scopus.com/inward/record.url?scp=85072287034&partnerID=8YFLogxK
U2 - 10.23919/acc.2019.8814348
DO - 10.23919/acc.2019.8814348
M3 - Conference contribution
AN - SCOPUS:85072287034
SN - 978-1-5386-7901-2
T3 - Proceedings of the American Control Conference
SP - 2509
EP - 2514
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 American Control Conference, ACC 2019
Y2 - 10 July 2019 through 12 July 2019
ER -