{"id":"https://openalex.org/W2165075285","doi":"https://doi.org/10.1109/med.2013.6608739","title":"Design, experimental validation, and comparison of two model-based EKF observers for lateral vehicle dynamics estimation","display_name":"Design, experimental validation, and comparison of two model-based EKF observers for lateral vehicle dynamics estimation","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2165075285","doi":"https://doi.org/10.1109/med.2013.6608739","mag":"2165075285"},"language":"en","primary_location":{"id":"doi:10.1109/med.2013.6608739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2013.6608739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"21st Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045722164","display_name":"Moustapha Doumiati","orcid":"https://orcid.org/0000-0001-7145-9693"},"institutions":[{"id":"https://openalex.org/I3133211407","display_name":"Fahd bin Sultan University","ror":"https://ror.org/01epw0x06","country_code":"SA","type":"education","lineage":["https://openalex.org/I3133211407"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"M. Doumiati","raw_affiliation_strings":["Faculty of Electrical Engineering, Fahad Bin Sultan University, Tabuk, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Fahad Bin Sultan University, Tabuk, Saudi Arabia","institution_ids":["https://openalex.org/I3133211407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031926077","display_name":"Raymond Ghandour","orcid":"https://orcid.org/0000-0002-1917-644X"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I4210091020","display_name":"Centre Technique des Industries M\u00e9caniques","ror":"https://ror.org/00c051916","country_code":"FR","type":"other","lineage":["https://openalex.org/I4210091020"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Ghandour","raw_affiliation_strings":["CETIM, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CETIM, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I4210091020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049077907","display_name":"Ali Charara","orcid":"https://orcid.org/0000-0003-4599-0979"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Charara","raw_affiliation_strings":["HEUDIASYC Laboratory UMR CNRS 6599, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HEUDIASYC Laboratory UMR CNRS 6599, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I4210088387","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035872502","display_name":"Alessandro Corr\u00eaa Victorino","orcid":"https://orcid.org/0000-0003-2845-711X"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Victorino","raw_affiliation_strings":["HEUDIASYC Laboratory UMR CNRS 6599, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HEUDIASYC Laboratory UMR CNRS 6599, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I4210088387","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018809586","display_name":"Dani\u00ebl Lechner","orcid":"https://orcid.org/0000-0003-2464-7565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D. Lechner","raw_affiliation_strings":["MA Department, IFSTTAR, Salon de Provence, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MA Department, IFSTTAR, Salon de Provence, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24246877,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":null,"first_page":"311","last_page":"316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7127049565315247},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7014868259429932},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6996088624000549},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.626973032951355},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6021653413772583},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.586380124092102},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.48739200830459595},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42858627438545227},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4268338680267334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41198503971099854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3797745704650879},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34798943996429443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2284468710422516},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21546068787574768},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1471673846244812},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09530773758888245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08033245801925659},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07706445455551147}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7127049565315247},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7014868259429932},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6996088624000549},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.626973032951355},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6021653413772583},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.586380124092102},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.48739200830459595},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42858627438545227},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4268338680267334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41198503971099854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3797745704650879},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34798943996429443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2284468710422516},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21546068787574768},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1471673846244812},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09530773758888245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08033245801925659},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07706445455551147},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2013.6608739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2013.6608739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"21st Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1964102413","https://openalex.org/W1964373008","https://openalex.org/W1968603427","https://openalex.org/W2005392008","https://openalex.org/W2015614033","https://openalex.org/W2025151443","https://openalex.org/W2051463607","https://openalex.org/W2051528022","https://openalex.org/W2091767866","https://openalex.org/W2106818252","https://openalex.org/W2132570625","https://openalex.org/W2136981479","https://openalex.org/W4252199061","https://openalex.org/W4300995080"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W3201620972","https://openalex.org/W1496421768"],"abstract_inverted_index":{"One":[0],"of":[1,6,43,65,105],"the":[2,7,15,23,53,62,84,97,103,106,116],"most":[3],"important":[4],"tasks":[5],"vehicle":[8,31,67],"dynamics":[9],"estimation":[10],"problem":[11],"is":[12],"to":[13,39,131],"obtain":[14,40],"longitudinal,":[16],"lateral,":[17],"and":[18,33,60,75,94,137],"vertical":[19,107],"forces":[20,86,101,109,118],"acting":[21],"upon":[22],"wheels.":[24],"These":[25],"variables":[26],"are":[27,37,72,129,143],"fundamental":[28],"for":[29],"studying":[30],"controllability":[32],"stability.":[34],"However,":[35],"they":[36],"difficult":[38],"in":[41,77,133,135,138],"terms":[42],"measurement":[44],"techniques.":[45],"Regarding":[46],"lateral/tire":[47],"forces,":[48],"two":[49],"observers":[50,128],"based":[51],"on":[52,61,102,150],"state-observer":[54],"Extended":[55],"Kalman":[56],"Filter":[57],"(EKF)":[58],"theory":[59],"dynamic":[63],"responses":[64],"a":[66,90,122,146,151],"instrumented":[68],"with":[69],"standard":[70],"sensors":[71],"proposed,":[73],"discussed":[74],"compared":[76],"this":[78],"study.":[79],"The":[80,111,126],"first":[81],"observer":[82,113],"estimates":[83,115],"lateral":[85,99,117],"per":[87,119],"axle":[88],"using":[89,121,145],"random":[91],"walk":[92],"model,":[93],"then":[95],"calculates":[96],"individual":[98],"tire":[100,108,120],"basis":[104],"distribution.":[110],"second":[112],"directly":[114],"transient":[123],"relaxation":[124],"model.":[125],"developed":[127],"able":[130],"work":[132],"real-time":[134],"normal":[136],"critical":[139],"driving":[140],"situations.":[141],"Performances":[142],"tested":[144],"laboratory":[147],"car":[148],"running":[149],"wet":[152],"track.":[153]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}