Commercial vehicles display a large variation in their parameters, and due to many current trends in vehicle control systems, identifying these parameters has been the subject of much research. Using the National Center for Asphalt Technology’s test track and instrumented Freightliner vehicles as a test bed, this paper sets out to provide analysis of real world and simulated estimation results and explore how sensor accuracies can degrade these results. Various vehicle parameters are identified using both the existing test conditions of the facility and simulated data. The estimation accuracy and performance are then analyzed for validation and use in other vehicle design arenas.

Hong S. Bae, and J. Christian Gerdes, Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles, AVEC 2000, Ann Arbor, Michigan, August 2000.
Hong S. Bae, Jihan Ryu, and J. Christian Gerdes, Road Grade and Vehicle Parameter Estimation for Longitudinal Control Using GPS, IEE ITS 2001, Oakland CA, August 2001.
D.M. Bevly, J. C. Gerdes, C. Wilson, and G. Zhang, The Use of GPS Based Velocity Measurements for Improved Vehicle State Estimation, Proceedings of the American Control Conference, 2000, pp. 2538–2542.
Rusty Anderson, and David M. Bevly, Estimation of Slip Angles using a Model Based Estimator and GPS, Proceedings of the American Control Conference, 2004, pp. 2122–2127.
Erwin Petersen, Detlev Neuhaus, Klaus Glabe, Ralf Koschorek, and Thomas Reich, Vehicle Stability Control for Trucks and Busses, SAE Technical Paper #982782, 1998.
M. Wurtenberger, St. Germann, and R. Isermann, Modeling and Parameter Estimation of Nonlinear Vehicle Dynamics, ASME Transportation Systems, 1992.
Gillespie, Thomas, Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, 1992.
Richard Wood, and Steven Bauer, Simple and Low-Cost Aerodynamic Drag Reduction Devices for Tractor-Trailer Trucks, SAE paper #2003-01-3377, 2003.
Stengel, Robert F, Optimal Control and Estimation, Dover Publications, New York, 1994.
Ryu, J., and J.C. Gerdes, Estimation of Vehicle Roll and Road Bank Angle, Proceedings from the American Control Conference, Boston MA, 2004.
Carlson, C.R. and J.C. Gerdes, Identifying Tire Pressure Variation by Nonlinear Estimation of Longitudinal Stiffness and Effective Radius, AVEC 2002.
Ardalan, V, Anna Stefanopoulou, Huei Peng, Recursive Least Squares with Forgetting for Online Estimation of Vehicle Mass and Road Grade: Theory and Experiments, Vehicle System Dynamics, Jan 16, 2003.
This content is only available via PDF.
You do not currently have access to this content.