Improved vehicle dynamics estimation by modeling the suspension and steering kinematics

摘要

The focus of this paper is the vehicle-specific model extension of a vehicle dynamics observer in the suspension and steering kinematics field and their influence on the estimation accuracy. The necessity of modeling the steering kinematics is shown by analysis on a single-track model. Prior to the design process of the observer, the model was suitable decomposed. The resulting partial observers are designed as Kalman Filters and Extended Kalman Filter. The achieved estimation accuracy by adding the suspension and steering kinematics is particularly shown in a higher quality of the slip angle estimation. The improvements were validated by real test drives.