Robust Observer Design of Tire Forces in Heavy-Duty Vehicles

This paper presents a robust observer design methodology to estimate tire forces in heavy-duty vehicles. The proposed methodology uses low-cost sensors and observer-based numerical differentiators. In addition to the already available sensors, low-cost sensors from the CAN bus are employed to get ad...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2015-12, Vol.16 (6), p.3304-3312
Main Authors: Imine, Hocine, Khemoudj, Omar, Djemai, Mohamed, Busawon, Krishna
Format: Article
Language:English
Subjects:
Axles
Engineering Sciences
estimation
Force
Heavy vehicle modeling
Modeling
Observers
Other
Sensors
sliding mode observer
Tires
Vehicle dynamics
vertical forces
Wheels
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Summary:This paper presents a robust observer design methodology to estimate tire forces in heavy-duty vehicles. The proposed methodology uses low-cost sensors and observer-based numerical differentiators. In addition to the already available sensors, low-cost sensors from the CAN bus are employed to get additional measurements. Sliding mode differentiators are used to optimize the sensors' configuration. Validation of the proposed estimation methodology is made by comparing the results with that generated using the PROSPER software simulator. The finite-time convergence with small estimation error suggests that the proposed methodology is valid and can be applied in real time.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2015.2443180