Virtual Sensor: Simultaneous State and Input Estimation for Nonlinear Interconnected Ground Vehicle System Dynamics

Abstract

This paper proposes a new observer approach used to simultaneously estimate both vehicle lateral and longitudinal nonlinear dynamics, as well as their unknown inputs. Based on cascade observers, this robust virtual sensor is able to more precisely estimate not only the vehicle state but also human driver external inputs and road attributes, including acceleration and brake pedal forces, steering torque, and road curvature. To overcome the observability and the interconnection issues related to the vehicle dynamics coupling characteristics, tire effort nonlinearities, and the tire–ground contact behavior during braking and acceleration, the linear-parameter-varying (LPV) interconnected unknown inputs observer (UIO) framework was used. This interconnection scheme of the proposed observer allows us to reduce the level of numerical complexity and conservatism. To deal with the nonlinearities related to the unmeasurable real-time variation in the vehicle longitudinal speed and tire slip velocities in front and rear wheels, the Takagi–Sugeno (T-S) fuzzy form was undertaken for the observer design. The input-to-state stability (ISS) of the estimation errors was exploited using Lyapunov stability arguments to allow for more relaxation and an additional robustness guarantee with respect to the disturbance term of unmeasurable nonlinearities. For the design of the LPV interconnected UIO, sufficient conditions of the ISS property were formulated as an optimization problem in terms of linear matrix inequalities (LMIs), which can be effectively solved with numerical solvers. Extensive experiments were carried out under various driving test scenarios, both in interactive simulations performed with the well-known Sherpa dynamic driving simulator, and then using the LAMIH Twingo vehicle prototype, in order to highlight the effectiveness and the validity of the proposed observer design.