TY  - JOUR
PY  - 2011//
TI  - Parameter and state estimation for articulated heavy vehicles
JO  - Vehicle system dynamics
A1  - Cheng, Caizhen
A1  - Cebon, David
SP  - 399
EP  - 418
VL  - 49
IS  - 1-2
N2  - This article discusses algorithms to estimate parameters and states of articulated heavy vehicles. First, 3- and 5-degrees-of-freedom linear vehicle models of a tractor semitrailer are presented. Vehicle parameter estimation methods based on the dual extended Kalman filter and state estimation based on the Kalman filter are presented. A program of experimental tests on an instrumental heavy goods vehicle is described. Simulation and experimental results showed that the algorithms generate accurate estimates of vehicle parameters and states under most circumstances.<p /> 
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423110903406656
ID  - ref1
ER  -