relation: http://eprints.imtlucca.it/4043/
title: Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving
creator: Zanon, Mario
creator: Frasch, J. V.
creator: Diehl, Moritz
subject: T Technology (General)
description: Real-time autonomous driving requires a precise knowledge of the state and the ground parameters, especially in dangerous situations. In this paper, an accurate yet computationally efficient nonlinear multi-body vehicle model is developed, featuring a detailed Pacejka tire model, and a Moving Horizon Estimation (MHE) scheme is formulated. To meet the real-time requirements, an efficient algorithm based on the Real Time Iteration (RTI) scheme for the Direct Multiple Shooting method is exported through automatic C code generation. The exported plain C-code is tailored to the model dynamics, resulting in computation times in the range of a few milliseconds. In addition to state estimates, MHE provides friction coefficient estimates, allowing the controller to adapt to varying road conditions. Simulation results from an obstacle avoidance scenario on a low friction road are presented.
publisher: IEEE
date: 2013-07
type: Conference or Workshop Item
type: PeerReviewed
format: application/pdf
language: en
identifier: http://eprints.imtlucca.it/4043/1/06669832.pdf
identifier:   Zanon, Mario and Frasch, J. V. and Diehl, Moritz  Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving.  In: European Control Conference (ECC), July 17-19, 2013, Zurich, Switzerland pp. 4130-4135.  ISBN 978-3-033-03962-9.      (2013)  
relation: http://ieeexplore.ieee.org/document/6669832/