Sebastian Lippold

Computationally Efficient and Robust Vehicle State and Road Friction Estimation under Sensor Faults Using a Two-Stage UKF*

Sensor fault detection is crucial for safe vehicle control, requiring rapid and accurate estimation under highly nonlinear dynamics. While the unscented Kalman filter (UKF) provides a powerful framework, augmenting the state vector with faults and parameters significantly increases computational load. To address this,...