吉林大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (增刊): 81-0084.

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Estimation of articulation angle for tractor semi-trailer with 3 axles based on extended Kalman filter

CHU Liang,FANG Yong,GUO Jian-hua,SHANG Ming-li,ZHOU Fei-kun   

  1. State Key Laboratory of Automobile Dynamic Simulation,Jilin University,Changchun 130022,China
  • Received:2010-01-04 Online:2010-09-01 Published:2010-09-01

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Abstract:

An estimator is designed to estimate the articulation angle based on extended Kalman filter(EFK), where a 3 DOF tractor semitrailer vehicle model and nonlinear tire lateral force is employed, and the signals from sensors of electronic stability control (ESC) system for commercial vehicle are used. The estimator is validated on a 21 DOF nonlinear vehicle model and the results show that the articulation angle can be estimated accurately in both linear and nonlinear area of tire lateral force.

Key words: vehicle engineering;tractor semi-trailer, jackknife, extended Kalman filter, articulation angle, vehicle model

CLC Number: 

  • U469.5
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