基于轮胎分布动力学的车辆状态观测器，仅用标准传感器数据精准估计侧滑角与胎力。
Inverse-dynamics observer design for a linear single-track vehicle model with distributed tire dynamics
- 将轮胎建模为双曲型偏微分方程，实现分布式动态表征
- 仅用转向角、横摆率和侧向加速度即可重构车辆状态
- 对噪声和模型误差鲁棒，适合复杂驾驶场景应用
在未知驾驶场景下，精确估计车辆侧滑角和轮胎力对于提升安全性和操控性能至关重要。本文提出一种创新观测器，结合线性单轨车辆模型与轮胎的分布式表征，并利用标准传感器采集的信息。具体而言，通过采用双曲型偏微分方程（PDEs）对轮胎进行综合表征，所提估计策略利用动力学逆方法，仅凭横摆率和侧向加速度测量值即可重构集中式与分布式车辆状态。仿真结果表明，该观测器在存在噪声和模型不确定性的情况下仍能有效估计侧滑角与轮胎力。
原文摘要 · Abstract (English)
Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety and handling performances in unknown driving scenarios. To this end, the present paper proposes an innovative observer that combines a linear single-track model with a distributed representation of the tires and information collected from standard sensors. In particular, by adopting a comprehensive representation of the tires in terms of hyperbolic partial differential equations (PDEs), the proposed estimation strategy exploits dynamical inversion to reconstruct the lumped and distributed vehicle states solely from yaw rate and lateral acceleration measurements. Simulation results demonstrate the effectiveness of the observer in estimating the sideslip angle and tire forces even in the presence of noise and model uncertainties.
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