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This paper describes a method of vehicle state estimation using the kinematic relationships established based on the Kinematics and Compliance (K&C) test. The estimator relies on the suspension displacement sensors. Suspension velocities are estimated using discrete differentiation and specially developed nonlinear filter. Performance of the propos...
Context in source publication
Context 1
... arbitrations between Roll _ Fr , Roll _ Rr , Pitch _ LHS , and Pitch _ RHS are needed for the final estimates of the roll and pitch angles. The simplest way is to take the average value between the front and the rear roll angle for the final roll estimate and the average value between the left pitch and the right pitch angle for the final pitch estimate. Vertical displacement of the tire patch (t.p.) is a function of suspension displacement Z ; Ztp _ LF = Ztp _ LF ( Z _ LF ) , where Z _ LF is a suspension displacement at the left front corner. This function is mainly linear except small portion at the end of wheel travel (see Figure ...
