Loading Condition Estimation of Lateral Dynamics Model for Autonomous Heavy Duty Trucks

Abstract

At the starting run after changing the load of actual truck, the natural frequencies of bouncing and pitching are measured and then judged referring to the natural frequencies of the ride model. Then, sprung mass, moment of inertia, gravity center location and each axle loads are estimated by the ride model equations also. Lateral dynamics model adopts the estimated parameters so that suit to the load change. How to identify the lateral dynamics model to load change and then how to estimate the model parameters by ride model are explained including the test method.