Estimation of Longitudinal Force, Sideslip Angle and Yaw Rate for Four-Wheel Independent Actuated Autonomous Vehicles Based on PWA Tire Model

This article introduces an efficient and high-precision estimation framework for four-wheel independently actuated (FWIA) autonomous vehicles based on a novel tire model and adaptive square-root cubature Kalman filter (SCKF) estimation strategy. Firstly, a reliable and concise tire model that consid...

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Hauptverfasser: Xiaoqiang Sun, Yulin Wang, Weiwei Hu
Format: Artigo
Sprache:Inglês
Veröffentlicht: MDPI AG 2022-04-01
Schriftenreihe:Sensors
Schlagworte:
autonomous vehicles
four-wheel independently actuated (FWIA)
square-root cubature kalman filter (SCKF)
vehicle lateral dynamics
piecewise affine (PWA) identification
Online Zugang:https://www.mdpi.com/1424-8220/22/9/3403
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