Technology Category
Intelligent Robots: State EstimationPlanning, Routing, and Scheduling: Model-Based ReasoningComputer Vision: Low Level & Physics-based Vision
Inverse-dynamics observer design for a linear single-track vehicle model with distributed tire dynamics
🤖 AI Summary
This work proposes a high-precision method for estimating vehicle sideslip angle and tire forces to enhance safety and handling in unknown driving scenarios. By integrating a linear single-track vehicle model with a distributed tire dynamics model formulated as a hyperbolic partial differential equation (PDE), the approach reconstructs both lumped and distributed vehicle states using only conventional sensor measurements—namely yaw rate and lateral acceleration—through a dynamic inversion technique. The key innovation lies in the first-time incorporation of hyperbolic PDE-based distributed tire dynamics into observer design. Simulation results demonstrate that the proposed method achieves robust and accurate state estimation even in the presence of measurement noise and model uncertainties.
Technology Category
Application Category
📝 Abstract
Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety and handling performances in unknown driving scenarios. To this end, the present paper proposes an innovative observer that combines a linear single-track model with a distributed representation of the tires and information collected from standard sensors. In particular, by adopting a comprehensive representation of the tires in terms of hyperbolic partial differential equations (PDEs), the proposed estimation strategy exploits dynamical inversion to reconstruct the lumped and distributed vehicle states solely from yaw rate and lateral acceleration measurements. Simulation results demonstrate the effectiveness of the observer in estimating the sideslip angle and tire forces even in the presence of noise and model uncertainties.
Problem
Research questions and friction points this paper is trying to address.
sideslip angle estimation
tire force estimation
vehicle dynamics
observer design
unknown driving scenarios
Innovation
Methods, ideas, or system contributions that make the work stand out.
inverse-dynamics observer
distributed tire dynamics
hyperbolic PDEs
sideslip angle estimation
linear single-track model
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