Open AccessA benchmark study on the model-based estimation of the go-kart side-slip angle
Author(s) -
Mark d’Inverno,
Vincenzo Maria Arricale,
Andrea Zanardi,
Emilio Frazzoli,
Aleksandr Sakhnevych,
Francesco Timpone
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2090/1/012156
Subject(s) - kalman filter , estimator , observer (physics) , benchmark (surveying) , inertial measurement unit , computer science , yaw , vehicle dynamics , encoder , control theory (sociology) , particle filter , simulation , engineering , automotive engineering , artificial intelligence , control (management) , statistics , physics , mathematics , geodesy , quantum mechanics , geography , operating system
Nowadays, the active safety systems that control the dynamics of passenger cars usually rely on real-time monitoring of vehicle side-slip angle (VSA). The VSA can’t be measured directly on the production vehicles since it requires the employment of high-end and expensive instrumentation. To realiably overcome the VSA estimation problem, different model-based techniques can be adopted. The aim of this work is to compare the performance of different model-based state estimators, evaluating both the estimation accuracy and the computational cost, required by each algorithm. To this purpose Extended Kalman Filters, Unscented Kalman Filters and Particle Filters have been implemented for the vehicle system under analysis. The physical representation of the process is represented by a single-track vehicle model adopting a simplified Pacejka tyre model. The results numerical results are then compared to the experimental data acquired within a specifically designed testing campaign, able to explore the entire vehicle dynamic range. To this aim an electric go-kart has been employed as a vehicle, equipped with steering wheel encoder, wheels angular speed encoder and IMU, while an S-motion has been adopted for the measurement of the experimental VSA quantity.