Fényes, Dániel and Hegedűs, Tamás and Gáspár, Péter (2024) Estimation of cornering stiffness using ultra-local model and LPV-based observer. IFAC PAPERSONLINE, 58 (4). pp. 437-442. ISSN 2405-8971 10.1016/j.ifacol.2024.07.257

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Abstract

The paper presents an observer design method for estimating the slips and the cornering stiffness of autonomous road vehicles. As a first step, the dynamical one-wheeled bicycle model is reformulated to express directly the slips of the vehicle. In the second step, a polytopic model-based observer is designed which can deal with the variation of the scheduling parameters (longitudinal velocity, cornering stiffness). In order to eliminate the parameter uncertainty an ultra-local model is applied by which the cornering stiffness is estimated. The effectiveness and the operation of the proposed observer method are demonstrated through a complex scenario in the high-fidelity simulation software, CarMaker. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)

Item Type:	Article
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	23 Oct 2024 13:41
Last Modified:	23 Oct 2024 13:41
URI:	https://eprints.sztaki.hu/id/eprint/10800

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