A Review on Vehicle-Trailer State and Parameter Estimation

Vehicle-trailer systems have various unstable modes including trailer snaking, jack-knifing, and roll-over, which should be considered in their stability control. For stability control design purposes, various techniques have been proposed to estimate vehicle-trailer system states and parameters. So...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2022-07, Vol.23 (7), p.5993-6010
Main Authors: Habibnejad Korayem, Amin, Khajepour, Amir, Fidan, Baris
Format: Article
Language:English
Subjects:
Algorithms
Axles
Control stability
Dynamic models
Estimation
Kinematics
Mathematical model
Parameter estimation
State estimation
Tires
Tractor trailers
trailer parameter estimations
Vehicle dynamics
vehicle-trailer state observer
Vehicle-trailer systems
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Summary:Vehicle-trailer systems have various unstable modes including trailer snaking, jack-knifing, and roll-over, which should be considered in their stability control. For stability control design purposes, various techniques have been proposed to estimate vehicle-trailer system states and parameters. Some of these techniques rely on vehicle kinematic/dynamic models while others are data-driven and do not require a model. This review paper provides a comprehensive overview of different model-based and non-model-based techniques/algorithms developed for estimating vehicle-trailer system states and parameters. The main features, limitations, and assumptions for each estimation method are discussed. The trailer parameter estimation feasibility is also investigated for different possible vehicle-trailer on-board sensor settings. This paper can be used as a review and reference resource for engineers working in vehicle with semi-trailer state estimation and safety systems.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2021.3074457