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Advanced driver assistance systems in modern vehicles have gained interest in the past decades. Most of these systems rely decisively on knowledge of the vehicle's state and influential parameters. Due to changing system or environmental conditions the functionality of these systems may lead to decreased performance or even failure. Especially, the road condition, represented by the maximum friction...
In this paper, an extended Kalman filter-based estimator adopting a dynamic vehicle model for determining the vehicle’s longitudinal and lateral velocity as well as the yaw rate is proposed. Two additional adaptation states are introduced to scale longitudinal and lateral tire forces if necessary to account for uncertainties in the tire/road contact. As excitation plays a vital role as far as observability...
The study focuses on the methodology to take the effect of the unequal longitudinal tire forces into consideration to reinforce the accuracy of the linearized vehicle model, also known as the bicycle model. Using the estimated front and rear cornering stiffness values obtained through an adaptive scheme, the conventional bicycle model is analyzed. By forming the inverse bicycle model, a disturbance...
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