Abstract
This article presents possible benefits of using derivative-free filter to estimate vehicle dynamics states based on measured signals where the complexity of nonlinear dynamics limits the use of Extended Kalman Filter commonly used for nonlinear filtering. The filtration process was applied to real data obtained from testing manoeuvre. Bicycle model of a vehicle was used for state description and lateral dynamics investigation. Filter implementation in Matlab-Simulink software environment was used for analysis and comparison with earlier results published in [2].
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Kalman, R.E.: A new approach to linear filtering and prediction problems. Transaction of the ASME - Journal of basic engineering, 35–45 (1960)
Porteš, P., Laurinec, M., Blaťák, O.: Analysis of Vehicle Dynamics using Kalman Filter. In: Simulation Modelling of Mechatronic Systems III, Brno University of Technology, Faculty on Mechanical Engineering, pp. 215–232 (2007) ISBN: 978-80-214-3559-9
Nørgaard, M., Poulsen, N.K., Ravn, O.: Advances in Derivative-Free State Estimation for Nonlinear Systems. Revised Edition, IMM-Technical Report-1998-15 (2004)
Froberg, C.E.: Introduction to Numerical Analysis, p. 433. Addison-Wesley, Reading (1970) ASIN B000NKJ5LC
ISO/WD 3888-2, 1999(E) Passenger cars Test track for a severe lane-change manoeuvre, Part 2: Obstacle avoidance
Kledus, R., Porteš, P., Vémola, A., Zelinka, A.: Messung von Fahrmanövern von Kraftfahrzeugen. In: 10. EVU Jahrestagung des Europäisches Vereins für Unfallforschung und Unfallanalyse e.v (EVU) Brno / Tschechische Republik, Institute of Forensic Engineering of Brno University of Technology, pp. 6–45 (2001)
Vlk, F.: Dynamika motorových vozidel. Publisher VLK, Brno (2000)
Bakker, E., Pacejka, H.B., Lidner, L.: A new Tire model with an Application in Vehicle Dynamics Studies. SAE 890087 (1989)
Laurinec, M.: Extended and Derivative Free Kalman Filter. In: Advances in Automotive Engineering, vol. II. 1, pp. 135–279. Tribun EU, Brno (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Porteš, P., Laurinec, M., Blat’ák, O. (2010). Discrete-Difference Filter in Vehicle Dynamics Analysis. In: Brezina, T., Jablonski, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-05022-0_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-05022-0_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-05021-3
Online ISBN: 978-3-642-05022-0
eBook Packages: EngineeringEngineering (R0)