The Simultaneous Estimation Method of Terrain Parameter and Vehicle Dynamics Variables for Agricultural Vehicle

摘要

This study proposes the simultaneous estimation method of terrain parameter and vehicle dynamics variables: cornering stiffness, side slip angle and disturbance moment. This method can be used to estimate and improve the dynamics of vehicles traveling on rough terrain. This estimation method consists of observer for nonlinear plant and the switching method by the degree of observability. Cornering stiffness, side slip angle, and disturbance moment can be estimated from measurement values, which are yaw rate, lateral distance and vehicle orientation with an accelerometer, a gyro sensor and GPS sensor by this method.