On the vehicle dynamics prediction via model-based observation

Abstract

Accurate knowledge of the vehicle dynamics response is a critical aspect to improve handling performance while ensuring safe driving at the same time. However, it poses a challenge since not all the quantities of interest can be directly measured due to cost and/or technological reasons. Therefore, several methods have been developed relying on physical models that map the relationship between these uncertain quantities and other variables that are directly measurable via the onboard sensors. This approach is referred to as model-based estimation, and it is usually solved via Kalman Filtering (KF). The accuracy that can be achieved is tightly connected with the model and the estimation algorithm selected by the designer. In this paper, models with varying levels of fidelity and different KF-based estimators are compared in order to shed some light on the appropriate construction of a model-based observer among the large body of research present in the literature. Recent nonlinear estimation algorithms including the Unscented Kalman Filter (UKF) and the Cubature Kalman Filter (CKF) are contrasted with each other and against the standard Extended Kalman Filter (EKF) on experimental data available from a public data set that uses an instrumented Ferrari 250 LM Berlinetta GT as a test bed.

Keywords:

• Vehicle lateral dynamics
• model-based observation
• sideslip-angle estimation
• nonlinear Kalman filtering
• cubature Kalman filter
• unscented Kalman filter

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

For the replicability of the results, the interested readers can refer to Kegelman, Harbott, and Gerdes [38], containing all data adopted in the Matlab scripts, which accompany this paper (currently under revision and available upon publication).

Additional information

Funding

The financial support of the projects: giving Smell Sense To Agricultural Robotics (STAR), ERA-NET COFUND ICT AGRI-FOOD [grant number 45207], is gratefully acknowledged. This work was also partly supported by the Italian Ministry of University and Research under the Programme ‘Department of Excellence’ Legge 232/2016 [grant number CUP - D93C23000100001].