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arXiv · 2309.01461

Joint vehicle state and parameters estimation via Twin-in-the-Loop observers

Federico Dettù·Simone Formentin·Sergio Matteo Savaresi
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Abstract

Vehicular control systems are required to be both extremely reliable and robust to different environmental conditions, e.g. load or tire-road friction. In this paper, we extend a new paradigm for state estimation, called Twin-in-the-Loop filtering (TiL-F), to the estimation of the unknown parameters describing the vehicle operating conditions. In such an approach, a digital-twin of the vehicle (usually already available to the car manufacturer) is employed on-board as a plant replica within a closed-loop scheme, and the observer gains are tuned purely from experimental data. The proposed approach is validated against experimental data, showing to significantly outperform the state-of-the-art solutions.

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Federico Dettù, Simone Formentin, Sergio Matteo Savaresi. 2023-09-04. Joint vehicle state and parameters estimation via Twin-in-the-Loop observers. https://doi.org/10.1080/00423114.2023.2290709

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