Vehicle tractive force prediction with robust and windup-stable Kalman filters

Vehicle control systems need to prognosticate future vehicle states in order to improve energy efficiency. This paper compares four approaches that are used to identify the parameters of a longitudinal vehicle dynamics model used for the prediction of vehicle tractive forces. All of the identification approaches build on a standard Kalman filter. Measurement signals are processed using the polynomial function approximation technique to remove noise and compute smooth derivative values of the signals. Experimental results illustrate that the approach using multiple Stenlund–Gustafsson M-Kalman filters (multiple robust and windup-stable Kalman filters) reaches the best performance and robustness in predicting the vehicle tractive forces. & 2015 Elsevier Ltd. All rights reserved.