Designing a Kalman–Bucy State Estimator for a Full Vertical Car Model

Table 1

Parameter values of a full car model [22, 26].

Number	Description	Value	Value	Unit
1	Sprung mass		1150	kg
2	Unsprung mass at the 1, 4 wheel		30,2	kg
3	Unsprung mass at the 2, 3 wheel		49,7	kg
4	Tyre stiffness		181000	N/m
5	Front suspension stiffness: 1, 4		30000	N/m
6	Rear suspension stiffness: 2, 3		32500	N/m
7	Front damping coefficient: 1, 4		1400	N·s/m
8	Rear damping coefficient: 2, 3		1600	N·s/m
9	Yaw moment of inertia of sprung mass Y		861,8	kg·m^2
10	Roll moment of inertia of sprung mass X		330,5	kg·m^2
11	Distance of front axle to center of gravity		1,116	m
12	Distance of rear axle to the center of gravity		1,232	m
13	Distance from center of gravity to left wheel		0,621	m
14	Distance from center of gravity to right wheel		0,621	m
15	Traction coefficient		1	—