Vehicle Sideslip Angle Estimation Based on Fusion of Kinematic Method and Kinematic-geometry Method
نویسندگان
چکیده
منابع مشابه
Vehicle Sideslip Angle Estimation Using Two Single-antenna Gps Receivers
Knowing vehicle sideslip angle accurately is critical for active safety systems such as Electronic Stability Control (ESC). Vehicle sideslip angle can be measured through optical speed sensors, or dual-antenna GPS. These measurement systems are costly (~$5k to $100k), which prohibits wide adoption of such systems. This paper demonstrates that the vehicle sideslip angle can be estimated in real-...
متن کاملSideslip Angle Estimation Based on GPS and Magnetometer Measurements
This paper proposes a cost-effective method to estimate the vehicle sideslip angle on various frictional surfaces on banked roads. This paper demonstrates that the vehicle sideslip can be estimated by combining measurements of Global Positioning System (GPS), Inertial Measurement Unit (IMU), and a magnetometer in the Kalman filter framework. Among all the measurements, the magnetometer is the m...
متن کاملMixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots
Automation in outdoor applications (farming, surveillance, military activities, etc.) requires highly accurate control of mobile robots, at high speed, although they are moving on low grip terrain. To meet such expectations, advanced control laws accounting for natural ground specificities (mainly sliding effects) must be derived. In previous work, adaptive and predictive control algorithms, ba...
متن کاملApplication of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction
A recursive least square RLS algorithm for estimation of vehicle sideslip angle and road friction coefficient is proposed. The algorithm uses the information from sensors onboard vehicle and control inputs from the control logic and is intended to provide the essential information for active safety systems such as active steering, direct yaw moment control, or their combination. Based on a simp...
متن کاملA Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation
This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a "pseudo-roll angle" through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased du...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Mechanical Engineering
سال: 2020
ISSN: 0577-6686
DOI: 10.3901/jme.2020.02.121