The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Simultaneous Observation of Inputs and State of Wheeled Vehicle Model

Mohamed Ouahi
XLIM UMR CNRS 6172
France

Joanny Stephant
XLIM UMR CNRS 6172
France

Dominique Meizel
XLIM UMR CNRS 6172
France

Abstract:
This paper deals with the problematic of Advanced Driver
Assistance systems for active-safety and automatic control of
wheeled vehicles. A non-linear high-gain unknown inputs state
observer is designed to compute simultaneously longitudinal and
transversal tire forces, resultant torques applied to wheels and
the vehicle speeds. This kind of software sensors is very useful
in defining these new mechatronic systems. Having validated the
model of knowledge using a realistic vehicle simulator, the
observer is tested under the same conditions and shows good
performances for the vehicle state, tire forces and the unknown
torques reconstruction.

 

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