Application of the Extended Kalman Filter to a Planar Vehicle Model to Predict the Onset of Jackknife Instability The Ohio State University

Format:

Conference/Event

Author/Creator:

Dunn, Ashley L. (Al), author.

Conference Name:

SAE 2004 World Congress & Exhibition (2004-03-08 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2004

Summary:

The widely used Extended Kalman Filter (EKF) is applied to a planar model of an articulated vehicle to predict jackknifing events. The states of hitch angle and hitch angle rate are estimated using a vehicle model and the available or "measured" states of lateral acceleration and yaw rate from the prime mover. Tuning, performance, and compromises for the EKF in this application are discussed. This application of the EKF is effective in predicting the onset of instability for an articulated vehicle under low-μ and low-load conditions. These conditions have been shown to be most likely to render heavy articulated vehicles vulnerable to jackknife instability. Options for model refinements are also presented

Notes:

Vendor supplied data

Publisher Number:

2004-01-1785

Access Restriction:

Restricted for use by site license