Vehicular trajectory estimation utilizing slip angle based on GNSS Doppler/IMU
نویسندگان
چکیده
Abstract Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As accuracy of reduced with slippage that occurs during turning, we propose a method in this study to accurately estimate vehicle, focusing on slip angle estimation. Although two-wheel model used as general concept estimation, accurate parameters was difficult using conventional methods. Therefore, global navigation satellite system (GNSS) Doppler parameter In addition, roll estimated it turning and affects vehicle. Specifically, verified improvement cost-effective GNSS Doppler/IMU.
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ژورنال
عنوان ژورنال: ROBOMECH Journal
سال: 2021
ISSN: ['2197-4225']
DOI: https://doi.org/10.1186/s40648-021-00195-4