Design of a robust adaptive vehicle observer towards delayed and missing Vehicle Dynamics sensor signals by usage of Markov Chains

摘要

As the influence and thereby the facilities for nowadays Vehicle Dynamics Control (VDC) systems increase by the expansion of actuators in vehicles, the measured vehicle dynamics get more and more relevant as they serve as basis for the controller. The common occurrence of delay or temporary absence of sensor signals raises new safety demands in order to guarantee passenger immunity. In this paper a new method for the handling of delayed and missing vehicle dynamics sensor signals by use of Markov Chains is introduced. The performance of this method in combination with a vehicle observer based on Extended Kalman Filter (EKF) technique is validated by simulation. The results are provided to illustrate the performance of this concept. Here the missing and delayed measurements are realized by a binary switching sequence.