On co-estimation and validation of vehicle driving states by a UKF-based approach

Abstract

It is necessary to acquire the accurate information of vehicle driving states for the implementation of automobile active safety control. To this end, this paper proposes an effective co-estimation method based on an unscented Kalman filter (UKF) algorithm to accurately predict the sideslip angle, yaw rate, and longitudinal speed of a ground vehicle. First, a 3 degrees-of-freedom (DOFs) nonlinear vehicle dynamics model is established as the nominal control plant. Then, based on CarSim software, the simulation results of the front steer angle and longitudinal and lateral acceleration are obtained under a variety of working conditions, which are regarded as the pseudo-measured values. Finally, the joint simulation of vehicle state estimation is realized in the MATLAB/Simulink environment by using the pseudo-measured values and UKF algorithm concurrently. The results show that the proposed UKF-based vehicle driving state estimation method is effective and more accurate in different working scenarios compared with the EKF-based estimation method.