Real-time experimental validation of nonlinear observer for vehicle dynamics parameters estimation: A laboratory vehicle description

Vehicle safety system has been developed to improve the handling performance of the vehicle and the driving security recently. However, these systems are limited because of the shortage of knowledge of vehicle dynamics variables which can illustrate the vehicle´s state and dynamics characteristic. Actually the technologies and economics reasons restrict the acquisition of these variables on the vehicle onboard system. Consequently, we develop the algorithm to estimate these variables using standard sensors in our laboratory. This paper presents our laboratory vehicle and methodology of estimation of the wheel-ground forces. On considering the nonlinearity system, we propose the comparison between the Extended Kalman filter and Particle filter techniques. Particularly we construct our laboratory vehicle which has already equipped with varies of sensors and real-time sampling and processing system. The systems are tested by using our experiment car in real driving situation. The experiment results can demonstrate the performance of our theoretical research and the real-time processing system.