Encyclopedia of Sustainability Science and Technology

2012 Edition
| Editors: Robert A. Meyers

Unscented Kalman Filter in Intelligent Vehicles

  • Moustapha Doumiati
  • Daniel Lechner
Reference work entry
DOI: https://doi.org/10.1007/978-1-4419-0851-3_791

Definition of the Subject

The principal concerns in driving safety with standard vehicles are understanding and preventing risky situations. A close examination of accident data reveals that losing the vehicle control is the main reason for most car accidents. To help the driver to prevent such accidents, vehicle control systems may be used. For their optimal operation, these control systems require certain input data concerning vehicle dynamic parameters and vehicle–road interaction . Unfortunately, some fundamental parameters like the tire-road forces and the sideslip angle are difficult to measure in a car, for both technical and economic reasons. To face this problem, this study presents a dynamic modeling and observation method to estimate these variables. The ability to accurately estimate lateral tire forces and sideslip angle is a critical determinant in the performances of many vehicle control systems. To address nonlinearities and unmodeled vehicle dynamics, an...

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Notes

Acknowledgments

This work was done at Heudiasyc Laboratory UMR CNRS 6599, UTC University (Compiègne, France) in collaboration with Alessandro Victorino and Ali Charara.

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Copyright information

© Springer Science+Business Media, LLC 2012

Authors and Affiliations

  1. 1.B2i Automotive Engineering CompanyMassyFrance
  2. 2.Department of Accident Mechanism AnalysisIFSTTAR-MA LaboratorySalon de ProvenceFrance