Estimation of Longitudinal Force, Sideslip Angle and Yaw Rate for Four-Wheel Independent Actuated Autonomous Vehicles Based on PWA Tire Model
This article introduces an efficient and high-precision estimation framework for four-wheel independently actuated (FWIA) autonomous vehicles based on a novel tire model and adaptive square-root cubature Kalman filter (SCKF) estimation strategy. Firstly, a reliable and concise tire model that consid...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-04-01
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Series: | Sensors |
Subjects: | |
Online Access: | https://www.mdpi.com/1424-8220/22/9/3403 |