کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7126795 | 1461550 | 2018 | 14 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Integrated observer approach using in-vehicle sensors and GPS for vehicle state estimation
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Integrated observer approach using in-vehicle sensors and GPS for vehicle state estimation Integrated observer approach using in-vehicle sensors and GPS for vehicle state estimation](/preview/png/7126795.png)
چکیده انگلیسی
This paper presents a new method for estimation of vehicle sideslip angle, which is a critical factor in some vehicle chassis control systems. Making use of easily available in-vehicle sensors and a standalone global positioning system (GPS), an integrated observer approach is developed, which includes a sensor offset compensator and two kinds of extended Kalman filters (EKFs) based on a bicycle model and a kinematic model, respectively. To properly combine the outputs of these EKFs, a weighting factor, a function of tire cornering stiffness and tire force, is designed. The observability of each EKF is checked by observability functions of nonlinear systems. As well as the sideslip angle, the longitudinal velocity, heading angle, and tire cornering stiffness are simultaneously estimated by the proposed algorithm. Finally, the performance of the entire system in various driving scenarios is verified using a test vehicle, and the superiority of the integrated observer is confirmed through a comparative study.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 50, April 2018, Pages 134-147
Journal: Mechatronics - Volume 50, April 2018, Pages 134-147
نویسندگان
Giseo Park, Seibum B. Choi, Dongyoon Hyun, Jounghee Lee,