Performance Analysis of EKF and UKF for Estimating Tire Longitudinal and Side Angle Slip

Shin Hoi Song; Myonghwan Ahn; Kwanghoon Kim; Jin Bae Park

doi:10.1051/matecconf/20167004002

All issues

Volume 70 (2016)

MATEC Web Conf., 70 (2016) 04002

References

Open Access

Issue		MATEC Web Conf. Volume 70, 2016 2016 The 3^rd International Conference on Manufacturing and Industrial Technologies


Article Number		04002
Number of page(s)		4
Section		Automotive Engineering
DOI		https://doi.org/10.1051/matecconf/20167004002
Published online		11 August 2016

J. Dakhlallah, S. Glaser, S. Mammar and Y. Sebsadji, “Tire-Road Forces Estimation Using Extended Kalman Filter and Sideslip Angle Evaluation,” American Control Conference(2008) [Google Scholar]
D. Bevly, J. C. Gerdes, and C. Wilson, “The Use of GPS Based Velocity Measurements for Measurement of Sideslip and Wheel slip,” Vehicle System Dynamics, 38, 2, pp. 127–147 (2002) [Google Scholar]
D. Bevly, J. Ryu, and J. C. Gerdes, “Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness,” IEEE Trans. Intelligent transportation systems, 7, 4, pp. 483–493 (2006) [CrossRef] [Google Scholar]
M. A. Javed, W. Owen, M. Biglarbegian, and W. Melek, “A hybrid EKF/KF state estimator for a skid-steered ATV,” International Journal of Vehicle Mechanics and Mobility, 52, 1, pp. 85–110 (2014) [Google Scholar]
Z. Song, Y. H. Zweiri, and L. D. Seneviratne, Non-linear observer for slip estimation of skid-steering vehicles, IEEE International Conference on Robotics and Automation(2006) [Google Scholar]
M. Doumiati, A. Victorino, A. Charara, and D. Lechner, A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation, American Control Conference(2010) [Google Scholar]
A. T. Le, D. C. Rye and H. F. Durrant-whyte, Estimation of Track-soil Interactions for Autonomous Tracked Vehicles, IEEE International Conference on Robotics and Automation(1997) [Google Scholar]
H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, Vehicle Sideslip Estimation, IEEE Control Systems Magazine,29, 5, pp. 36–52 (2009) [CrossRef] [Google Scholar]

Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.

Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.

Initial download of the metrics may take a while.

[1] J. Dakhlallah, S. Glaser, S. Mammar and Y. Sebsadji, “Tire-Road Forces Estimation Using Extended Kalman Filter and Sideslip Angle Evaluation,” American Control Conference(2008) [Google Scholar]

[2] D. Bevly, J. C. Gerdes, and C. Wilson, “The Use of GPS Based Velocity Measurements for Measurement of Sideslip and Wheel slip,” Vehicle System Dynamics, 38, 2, pp. 127–147 (2002) [Google Scholar]

[3] D. Bevly, J. Ryu, and J. C. Gerdes, “Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness,” IEEE Trans. Intelligent transportation systems, 7, 4, pp. 483–493 (2006) [CrossRef] [Google Scholar]

[4] M. A. Javed, W. Owen, M. Biglarbegian, and W. Melek, “A hybrid EKF/KF state estimator for a skid-steered ATV,” International Journal of Vehicle Mechanics and Mobility, 52, 1, pp. 85–110 (2014) [Google Scholar]

[5] Z. Song, Y. H. Zweiri, and L. D. Seneviratne, Non-linear observer for slip estimation of skid-steering vehicles, IEEE International Conference on Robotics and Automation(2006) [Google Scholar]

[6] M. Doumiati, A. Victorino, A. Charara, and D. Lechner, A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation, American Control Conference(2010) [Google Scholar]

[7] A. T. Le, D. C. Rye and H. F. Durrant-whyte, Estimation of Track-soil Interactions for Autonomous Tracked Vehicles, IEEE International Conference on Robotics and Automation(1997) [Google Scholar]

[8] H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, Vehicle Sideslip Estimation, IEEE Control Systems Magazine,29, 5, pp. 36–52 (2009) [CrossRef] [Google Scholar]