Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Tire Lateral Force Estimation System Using Nonlinear Kalman Filter

비선형 Kalman Filter를 사용한 타이어 횡력 추정 시스템

  • Lee, Dong-Hun (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Kim, In-Keun (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Huh, Kun-Soo (Department of Automotive Engineering, Hanyang University)
  • 이동훈 (한양대학교 대학원 자동차공학과) ;
  • 김인근 (한양대학교 대학원 자동차공학과) ;
  • 허건수 (한양대학교 미래자동차공학과)
  • Received : 2012.02.14
  • Accepted : 2012.05.30
  • Published : 2012.11.01
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Abstract

Tire force is one of important parameters which determine vehicle dynamics. However, it is hard to measure tire force directly through sensors. Not only the sensor is expensive but also installation of sensors on harsh environments is difficult. Therefore, estimation algorithms based on vehicle dynamic models are introduced to estimate the tire forces indirectly. In this paper, an estimation system for estimating lateral force and states is suggested. The state-space equation is constructed based on the 3-DOF bicycle model. Extended Kalman Filter, Unscented Kalman Filter and Ensemble Kalman Filter are used for estimating states on the nonlinear system. Performance of each algorithm is evaluated in terms of RMSE (Root Mean Square Error) and maximum error.

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References

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