Driver Support System Based on a Non-Linear Slip Observer for Off Road Vehicles

Authors:	Song Zibin, Kings College London, United Kingdom Zweiri Yahya H., Kings College London, United Kingdom Seneviratne Lakmal D., Kings College London, United Kingdom Althoefer Kaspar, Kings College London, United Kingdom
Topic:	3.3 Computers and Telematics
Session:	Telematics
Keywords:	Sliding mode observer; Extended Kalman Filter; Slip parameter estimation; Driver assistance; Tracked Vehicles.

Abstract

Off road ground vehicles have many potential applications, including space, defence, agriculture, mining and construction. Increased autonomy of ground vehicles will not only improve the safety of the operators but also assist in trajectory tracking. Accurate estimation of slip is essential in developing autonomous navigation strategies for mobile off road vehicles operating in unstructured terrain. In this paper, a driver assistance and vehicle control capability to increase safety and efficiency by means of non-linear slip estimation is presented. A sliding mode observer and an Extended Kalman Filter are constructed to estimate slip parameters based on the kinematics model of a tracked vehicle and trajectory measurement. Autonomous driver support system for the rural road environment (off road) using estimated slip parameters is investigated.