Using the Unscented Kalman Filter and a Non-linear Two-track Model for Vehicle State Estimation
نویسندگان
چکیده
In order to evaluate the driving stability of a motor vehicle, the accurate determination of the vehicle sideslip angle is of significant importance. With the help of the sensor signals in today’s production vehicles, this state can only be determined with limited accuracy. We propose an algorithm for the determination and estimation of the vehicle state based on the Unscented Kalman Filter. In the described estimator a two-track model of the vehicle is used, which represents the road contact with the Pacejka’s Magic Formula tyre model.
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