Data/physics modelling of vehicle dynamics and application to velocity estimation
In order to reduce the computation burden of the complex tyre model, the mixed data/physics tyre model is built at first, taking the requirement of miniaturization and real-time performance of electronic control system into account. Then, the vehicle dynamics description is obtained and the mixed model is validated in the following. Based on this, the nonlinear cascaded observer is designed using the modular estimation scheme. Then the stability of the nonlinear cascaded observer is analyzed. In order to verify the vehicle velocity estimation results, the simulation is carried out in the conventional and critical condition in the vehicle running. Meanwhile, the estimation results are compared with the nonlinear reduce order observer and vehicle dynamics software veDYNA. The simulation results show that the cascaded observer using mixed data/physics vehicle model has faster computation speed on the premise of better estimation results, and could satisfy the requirements of engineering application.