State and Parameter Estimation for Vehicle Dynamics

Abstract

An accurate knowledge of the vehicle state and parameters is essential for current and future active vehicle applications. However, many of these quantities cannot be measured directly in commercial vehicles through the use of cost effective sensors. Estimation methods allow one to combine a (simple) model for the vehicle with available measurement data in order to assimilate a wide range of quantities of interests, ranging from slip states to tire parameters. In this chapter we will review various basic estimation algorithms, and discuss how they can lead to valuable estimators for vehicle dynamics applications by considering gradually increasing model complexity. This should provide the reader with the basic insights required to set up their own vehicle dynamics estimators.F. Naets (B) DMMS,