Abstract

KLEINE, Sven  and  VAN NIEKERK, Johannes L.. The use of linear observers to estimate vehicle states during severe handling manoeuvres. R&D j. (Matieland, Online) [online]. 1997, vol.13, pp.47-61. ISSN 2309-8988.

In this paper a linear observer is developed to estimate the dynamic states of a vehicle during severe handling manoeuvres. The observer is designed with a linear three degree of freedom vehicle model Pole Placement and LQR strategies are evaluated to select the error feedback gain. It is shown that highly inaccurate results can be obtained when the observer gain is chosen blindly. The ability of the observer to estimate vehicle states at high lateral accelerations is demonstrated by means of simulation, using a non-linear three degree of freedom vehicle model. Furthermore, experimental data are used as input to the observer to verify that it is able to estimate the states of an actual vehicle during a single lane change manoeuvre. The observer is found to accurately estimate the vehicle states even at high lateral acceleration.

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