RT Journal Article
T1 A Constrained Dual Kalman Filter Based on pdf Truncation for Estimation of Vehicle Parameters and Road Bank Angle: Analysis and Experimental Validation
A1 López Boada, Beatriz
A1 García-Pozuelo Ramos, Daniel
A1 López Boada, María Jesús
A1 Díaz López, Vicente
AB Vehicles today are equipped with control systems that improve their handling and stability. Knowledge of road bank angle and vehicle parameters is crucial for good behavior in this type of control. This paper develops a new method for estimating different states, such as vehicle roll angle, road bank angle, and vehicle parameters. This method combines a dual Kalman filter with a probability density function truncation method to consider the parameter physical limitations. Experimental results show the effectiveness of the proposed method and demonstrate that the incorporation of parameter constraints improves its estimation accuracy. The proposed method provides an estimation of the parameters and the states' physical meaning and the stable values within the real boundary limits in contrast to other estimation methods.
SN 1524-9050
YR 2016
FD 2016-08-17
LK https://hdl.handle.net/10016/24456
UL https://hdl.handle.net/10016/24456
LA eng
NO This work was supported by Project TRA2013-48030-C2-1-Rfrom  the Spanish  Ministry  of  Economy and  Competitiveness.  The AssociateEditor for this paper was P. Kachroo.
DS e-Archivo
RD 27 jul. 2024