ABSTRACT
Numerous advanced driver assistance systems rely on parametric models describing the vehicle’s behavior and stability. Accurate knowledge about the vehicle’s dynamics in terms of specific states has the potential to improve these systems’ performance drastically. Since several crucial states, e.g. side slip angle, can not be measured directly, estimation methodologies were developed. In this paper a highly nonlinear model of the vehicle’s longitudinal and lateral dynamics, containing 13 states and 8 measurements is used within an unscented Kalman Filter. The estimation results are compared to high precision measurements taken using a Genesys ADMA inertial measurement unit on a Volkswagen Golf GTE Plug-In Hybrid during three different maneuvers.
