ACCURATE MODELLING AND IDENTIFICATION OF VEHICLE'S NONLINEAR LATERAL DYNAMICS

摘要

The use of model-based controller or fault diagnosis systems in automo- tive control requires reliable dynamics models. The reliability consists in accurate prediction of the vehicle's behavior, in order to evaluate current driving situations. Model parameters have to be precisely identiˉed. This depends on the model's capability to reproduce the complex dynamics of the real system, by remaining as simple as possible, for online computation. In this article, a practical approach of modelling vehicle dynamics is presented. Conventional simpliˉcations are removed by coupling lateral and roll motion. Besides, nonlinear tire characteristic is pre- sented. The accuracy and performance of the identiˉed model is demonstrated by tests on real automotive systems.