This work describes the development of a vehicle state estimator, designed to be employed onboard in real-time, based on the data acquisitions already available within the vehicle CAN bus infrastructure. The proposed estimation algorithm, taking into account the suspension elasto-kinematics, the longitudinal, lateral and combined dynamics of the tyres as well as the aligning interaction torques at the ground, represents at the current stage a significantly complete tool, since it also provides an estimation of road slope and banking angles, generalising the adoption of the presented vehicle model even on highly inclined roads. A further advantage of the presented estimator consists of its capability to identify in real-time and with a good level of accuracy the tyre/road interaction physical characteristics in terms of grip and cornering stiffness.


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    Title :

    Adaptive vehicle dynamics state estimator for onboard automotive applications and performance analysis



    Published in:

    Vehicle System Dynamics ; 61 , 12 ; 3244-3268


    Publication date :

    2023-12-02


    Size :

    25 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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