Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2022 American Control Conference (ACC) |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2353-2360 |
| Number of pages | 8 |
| ISBN (electronic) | 9781665451963 |
| ISBN (print) | 9781665494809 |
| Publication status | Published - 2022 |
| Event | 2022 American Control Conference, ACC 2022 - Atlanta, United States Duration: 8 Jun 2022 → 10 Jun 2022 |
Publication series
| Name | Proceedings of the American Control Conference |
|---|---|
| Volume | 2022-June |
| ISSN (Print) | 0743-1619 |
Abstract
For further development of assistance systems and autonomous systems for tractor-semitrailers, knowledge of relevant trailer states and parameters is necessary. However, the trailer is sparsely equipped with sensors and the standardized communication between truck and trailer is reduced to braking signals. This paper presents an approach for estimating the lateral and vertical tire forces, roll behavior and articulation angle of the trailer for different loading conditions solely based on trailer signals using an Unscented Kalman Filter (UKF). Due to missing information from the truck, the varying mass and center of gravity (COG) based on different loading conditions must be estimated only on trailer signals. The investigation on structural observability shows that an estimation of all unknown parameters with the UKF is not possible. Thus, the usage of a substitute mass and COG is necessary and calculated based on the trailer's axle load and domain knowledge of the usual practical loading distribution. The method is validated for different substitute masses and COGs with experimental data from a fully and partially loaded trailer.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
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Proceedings of the 2022 American Control Conference (ACC). Institute of Electrical and Electronics Engineers Inc., 2022. p. 2353-2360 (Proceedings of the American Control Conference; Vol. 2022-June).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - State and Parameter Estimation in a Semitrailer for Different Loading Conditions Only Based on Trailer Signals
AU - Ehlers, Simon F. G.
AU - Ziaukas, Zygimantas
AU - Kobler, Jan-Philipp
AU - Jacob, Hans-Georg
N1 - Funding Information: ACKNOWLEDGMENT This work is part of the project IdenT (19|19008A, 19|19008B), which is funded by the German Federal Ministry for Economic Affairs and Energy based on a resolution of the German Bundestag. The authors from the Institute of Mechatronic Systems want to thank BPW Bergische Achsen KG for the great support, particularly Jan-Philipp Kobler, Simon Weßel, Eduard Penner, Bernd Vasentin, Willi Rempel and the entire road test team in Brüchermühle.
PY - 2022
Y1 - 2022
N2 - For further development of assistance systems and autonomous systems for tractor-semitrailers, knowledge of relevant trailer states and parameters is necessary. However, the trailer is sparsely equipped with sensors and the standardized communication between truck and trailer is reduced to braking signals. This paper presents an approach for estimating the lateral and vertical tire forces, roll behavior and articulation angle of the trailer for different loading conditions solely based on trailer signals using an Unscented Kalman Filter (UKF). Due to missing information from the truck, the varying mass and center of gravity (COG) based on different loading conditions must be estimated only on trailer signals. The investigation on structural observability shows that an estimation of all unknown parameters with the UKF is not possible. Thus, the usage of a substitute mass and COG is necessary and calculated based on the trailer's axle load and domain knowledge of the usual practical loading distribution. The method is validated for different substitute masses and COGs with experimental data from a fully and partially loaded trailer.
AB - For further development of assistance systems and autonomous systems for tractor-semitrailers, knowledge of relevant trailer states and parameters is necessary. However, the trailer is sparsely equipped with sensors and the standardized communication between truck and trailer is reduced to braking signals. This paper presents an approach for estimating the lateral and vertical tire forces, roll behavior and articulation angle of the trailer for different loading conditions solely based on trailer signals using an Unscented Kalman Filter (UKF). Due to missing information from the truck, the varying mass and center of gravity (COG) based on different loading conditions must be estimated only on trailer signals. The investigation on structural observability shows that an estimation of all unknown parameters with the UKF is not possible. Thus, the usage of a substitute mass and COG is necessary and calculated based on the trailer's axle load and domain knowledge of the usual practical loading distribution. The method is validated for different substitute masses and COGs with experimental data from a fully and partially loaded trailer.
UR - http://www.scopus.com/inward/record.url?scp=85138491996&partnerID=8YFLogxK
U2 - 10.23919/ACC53348.2022.9867797
DO - 10.23919/ACC53348.2022.9867797
M3 - Conference contribution
AN - SCOPUS:85138491996
SN - 9781665494809
T3 - Proceedings of the American Control Conference
SP - 2353
EP - 2360
BT - Proceedings of the 2022 American Control Conference (ACC)
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 American Control Conference, ACC 2022
Y2 - 8 June 2022 through 10 June 2022
ER -