5. Embedded Real-Time System for Vehicle State Estimation: Experimental Results

  1. Moustapha Doumiati,
  2. Ali Charara,
  3. Alessandro Victorino,
  4. Daniel Lechner and
  5. Bernard Dubuisson
  1. Moustapha Doumiati,
  2. Ali Charara,
  3. Alessandro Victorino,
  4. Daniel Lechner and
  5. Bernard Dubuisson

Published Online: 26 DEC 2012

DOI: 10.1002/9781118578988.ch5

Vehicle Dynamics Estimation using Kalman Filtering

Vehicle Dynamics Estimation using Kalman Filtering

How to Cite

Doumiati, M., Charara, A., Victorino, A., Lechner, D. and Dubuisson, B. (2012) Embedded Real-Time System for Vehicle State Estimation: Experimental Results, in Vehicle Dynamics Estimation using Kalman Filtering (eds M. Doumiati, A. Charara, A. Victorino, D. Lechner and B. Dubuisson), John Wiley & Sons, Inc., Hoboken, NJ USA. doi: 10.1002/9781118578988.ch5

Publication History

  1. Published Online: 26 DEC 2012
  2. Published Print: 17 DEC 2012

ISBN Information

Print ISBN: 9781848213661

Online ISBN: 9781118578988

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Keywords:

  • embedded real-time application;
  • laboratory vehicle;
  • Peugeot 307;
  • potential field framework;
  • vehicle dynamics

Summary

This chapter provides a broad overview of the laboratory vehicle used to assess the different observers described throughout the book. It is a laboratory vehicle, built on a Peugeot 307, for vehicle dynamics and embedded real-time application. In the first part of the chapter, the testbed car is presented. Original investigations for the measurements of the driver’s commands and the dynamic responses of the car are made. The tools used to acquire, synchronize and process the data are described. In the second part, the ability of the observers designed to work online as embedded real-time applications are explored. In theory, the potential field framework provides good estimation results. A major question still remains: Will this framework work online in a real vehicle? The chapter presents experimental results to prove that the online system performance is closely matched by the offline predictions, and the vehicle stays within the theoretical bounds.

Controlled Vocabulary Terms

off-road vehicles; real-time systems