Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

G. Venture, P.-J. Ripert, W. Khalil, M. Gautier, P. Bodson
2006 IEEE transactions on intelligent transportation systems (Print)  
This paper deals with the problem of dynamic modelling and identification of passenger cars. It presents a new method which is based on robotics techniques for modelling and description of tree structured multi-body systems. This method enables us to systematically obtain the dynamic identification model, which is linear with respect to the dynamic parameters. The estimation of the parameters is carried out using a weighted least squares method. The identification is tested using vehicle
more » ... sing vehicle dynamics simulation software, used by the car manufacturer PSA Peugeot-Citroën, in order to define a set of trajectories with good excitation properties and to determine the number of degrees of freedom of the model. The method has then been used to estimate the dynamic parameters of an experimental Peugeot 406, which is equipped with different position, velocity and force sensors.
doi:10.1109/tits.2006.880620 fatcat:pjezlmut3feh3ly2bge4wz5d6u