A DVS-MHE Approach to Vehicle Side-Slip Angle Estimation

Author

Canale, M. ; Fagiano, Lorenzo ; Novara, C.

Author_Institution

Dipt. di Autom. e Inf., Politec. di Torino, Turin, Italy

Volume

22

Issue

5

fYear

2014

fDate

Sept. 2014

Firstpage

2048

Lastpage

2055

Abstract

A study on the application of a direct virtual sensor-moving horizon estimator (DVS-MHE) to the problem of vehicle side-slip angle estimation is carried out. In particular, it is shown that a stable MHE can be represented as nonlinear finite impulse response (NFIR) filter. Then, in order to allow online implementation and guaranteed estimation accuracy, an optimal NFIR filter is derived directly from the data by means of a DVS approach. Comparisons between the standard model-based MHE approach and the DVS approach are carried out using a detailed vehicle model.

Keywords

FIR filters; nonlinear filters; optimal control; road accidents; road safety; road traffic control; road vehicles; sensors; slip; DVS-MHE approach; direct virtual sensor-moving horizon estimator; estimation accuracy; nonlinear finite impulse response filter; optimal NFIR filter; stable MHE; vehicle model; vehicle side-slip angle estimation; Data models; Estimation error; Observers; Optimization; Vehicles; Voltage control; Direct filter identification; lateral vehicle dynamics; moving horizon estimation; set membership (SM); set membership (SM).; side-slip angle estimation;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2013.2295974

Filename

6722920