제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Estimation of vehicle cornering stiffness via GPS/INS

  • Park, Gun-Hong (Department of Mechanical and Intelligent Systems Engineering., Pusan University) ;
  • Chang, Yu-Shin (Department of Mechanical and Intelligent Systems Engineering., Pusan University) ;
  • Ryu, Jae-Heon (Department of Mechanical and Intelligent Systems Engineering., Pusan University) ;
  • Jeong, Seung-Gweon (Department of Mechanical and Intelligent Systems Engineering., Pusan University) ;
  • Song, Hyo-Shin (Department of Interdisciplinary Program in Mechatronics, Pusan University) ;
  • Park, Seok-Hyun (Department of Interdisciplinary Program in Mechatronics, Pusan University) ;
  • Lee, Chun-Han (Department of Interdisciplinary Program in Mechatronics, Pusan University) ;
  • Hong, Sin-Pyo (School of Mechanical Engineering, Pusan University) ;
  • Lee, Man-Hyung (School of Mechanical Engineering, Pusan University)
  • Published : 2003.10.22
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Abstract

This paper demonstrates a unique method for measuring vehicle states such as body sideslip angle and tire sideslip angle using Global Positioning System(GPS) velocity information in conjunction with other sensors. A method for integrating Inertial Navigation System (INS) sensors with GPS measurements to provide higher update rate estimates of the vehicle states is presented, and the method can be used to estimate the tire cornering stiffness. The experimental results for the GPS velocity-based sideslip angle measurement. From the experimental results, it can be concluded that the proposed method has an advantage for future implementation in a vehicle safety system.

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