Slip Estimation with Receding-horizon Strategy for Off-road Vehicles with Nonlinear Tire Interactions

In the present paper we show the application of moving horizon state estimation approach to longitudinal slip estimation of an off-road vehicle. The tire slip is related to important vehicle dynamics control systems, such as anti-lock braking system or traction control system that prevent the tires from spinning out during traction or locking up during braking. The single-corner model featuring Bekker tire model are applied in a vehicle considering two different terrains, a medium soil and a clayey soil using information about brake torque, longitudinal and angular wheel speed. Simulation results show a good estimation of the longitudinal slip considering longitudinal and angular wheel measurements. It has been shown that even for the case when the longitudinal speed is not measured, it is possible to accurately estimate the vehicle slip by increasing the window size. This highlights the importance of using advanced receding-horizon strategies for vehicle estimation and control.