무향 칼만 필터를 이용한 타이어 수직하중 변화 추정open accessEstimation of Vertical Load Variation on a Tire Using Unscented Kalman Filter
- Other Titles
- Estimation of Vertical Load Variation on a Tire Using Unscented Kalman Filter
- Authors
- 김석원; 정용우; 김진성; 이승희; 정정주
- Issue Date
- Jan-2020
- Publisher
- Korean Society of Automotive Engineers
- Keywords
- Chassis control; Lateral load transfer; Road friction coefficient; Roll dynamis; Unscented kalman filter; Vertical tire forces; 롤 역학; 샤시 제어; 무향 칼만 필터; 타이어 수직력; 황방향 하중이동; 도로 마찰 계수
- Citation
- Transactions of the Korean Society of Automotive Engineers, v.28, no.1, pp.43 - 52
- Indexed
- SCOPUS
KCI
- Journal Title
- Transactions of the Korean Society of Automotive Engineers
- Volume
- 28
- Number
- 1
- Start Page
- 43
- End Page
- 52
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/146406
- DOI
- 10.7467/KSAE.2020.28.1.043
- ISSN
- 1225-6382
- Abstract
- In this study, we present an estimator of vertical tire forces based on Unscented Kalman Filter(UKF) to improve the performance of the chassis control. When the vehicle is maneuvered to change lanes, the vertical load transfer caused by the centrifugal force can affect cornering stability and rollover. In the previous study, a Kalman Filter with a fixed gain, obtained from infinite horizon, has been conventionally used. However, this estimator does not fully compensate for the model's uncertainty on slippery road conditions. To reflect the model's uncertainty effectively, this paper is proposing a new estimator of vertical tire forces with UKF. Moreover, to reflect roll behavior on the low road friction coefficient accurl-ately, we used roll rate information. The effectiveness and the performance of the proposed method were validated by using CarSim for vehicle dynamics.
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