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Estimator and Controller Design
Estimator: Interacting multiple model(IMM) based AWD vehicle state estimator with parameter adaptation
Controller: Model predictive controller
Vehicle System Modeling for Simulation
External transfer case model (Amesim-Simulink based) implemented in CarSim
Longitudinal acceleration on low-μ
Acceleration with double-lane change on low-μ
4 wheel indepdent driving(4WID) and 4 wheel independent steering (4WIS) system (A.K.A e-Corner module) model (Simulink and CarSim based)
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