Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on the Vehicle Dynamics and Road Slope Estimation

차량동특성 및 도로경사도 추정에 관한 연구

  • Kim, Moon-Sik (Automated Driving Systems R&D Center, Korea Automotive Technology Institute)
  • 김문식 (자동차부품연구원 자율주행연구센터)
  • Received : 2019.06.07
  • Accepted : 2019.09.09
  • Published : 2019.09.30
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Abstract

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.

Keywords

Acknowledgement

Supported by : 한국산업기술평가관리원

References

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