Comparison of observers for vehicle yaw rate estimation

被引：0

作者：

Monot, Nolwenn ^{[1
,2
]}

Moreau, Xavier ^{[1
]}

Benine-Neto, Andre ^{[1
]}

Rizzo, Audrey ^{[2
]}

Aioun, Francois ^{[2
]}

机构：

[1] Univ Bordeaux, IMS Lab, Bordeaux INP, CNRS,UMR 5218, F-33405 Talence, France

[2] Grp PSA, F-78943 Velizy Villacoublay, France

来源：

2018 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2018年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a comparison of observers for vehicle lateral dynamics. Three model-based observers are compared: firstly Luenberger observer with a linear stationary model, secondly Kalman filter with a non stationary model and lastly Luenberger observers for each subsystems of a Takagi-Sugeno multi-model. Moreover, an analysis of the lateral dynamics shows that the model discretisation may be problematic according to the signal sampling theorem and a solution is proposed, such that all the observers can be used on board of the vehicle.

引用

页码：1925 / 1930

页数：6

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