Nonlinear Observer Design For Lateral Vehicle Dynamics
| Authors: | von Vietinghoff Anne, Universität Karlsruhe (TH), Germany
Hiemer Marcus, Universität Karlsruhe (TH), Germany
Kiencke Uwe, Universität Karlsruhe (TH), Germany |
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| Topic: | 1.1 Modelling, Identification & Signal Processing |
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| Session: | Nonlinear Filtering |
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| Keywords: | Automotive control, nonlinear models, state estimation, state observers, vehicle dynamics |
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Abstract
The vehicle sideslip angle (VSSA) is determined using anonlinear observer with Adaption of a Quality Function. The observerdesign is based on an adapted nonlinear double track model. Byvalidation with real measurement data, the model accuracy is provento be sufficient for observer design. The observer is derived andvalidated with real measurement data of representative test drives.It is shown that the observer is capable to determine the VSSA withhigh accuracy up to the stability limit of the vehicle.
