ABSTRACT
Consistent vehicle states and parameters will become a requirement for the effective application of integrated vehicle dynamics control and automatic driving. Besides a basic model-based state estimation algorithm, additional modules, e.g. for the estimation of road grade and slope, and maximal longitudinal and lateral friction coefficients may decide on the quality of estimation when focusing on handling dynamics. Both enhanced complexity and inflexibility of a global vehicle state estimator and, alternatively, interdepended individual estimation modules face major drawbacks. This paper addresses a module based estimation approach to guarantee design flexibility, which has been tested with standard vehicle sensors at ordinary and extreme driving manoeuvres and road conditions to discuss benefits and drawbacks of the proposed modular vehicle state estimation approach.
