Application of interval state estimation in vehicle control

Abstract

This paper mainly attempts to design an interval observer for vehicle dynamic system, and make interval observation of the state for moving vehicles. For this purpose, a novel robust estimation method was introduced to apply interval state estimation in vehicle control system. Considering the change of the turning angle, the cornering force of the tires, and the change of driving conditions, we designed a linear parameter varying interval observer, and proposed a estimation algorithm which proved effective through simulation. The employed state estimation technique could simultaneously compute the relevant signals, and make timely and effective detection of sensor faults, thereby improving the reliability and robustness of the active control system of the vehicle.

Keywords

• Interval state estimation
• Linear parameter varying (LPV) interval observer
• Longitudinal dynamics control
• Vehicle lateral dynamics