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http://dx.doi.org/10.7467/KSAE.2015.23.5.478

Climbing Angle Estimation in Yawing Motion by UIO  

Byeon, Hyeongkyu (Department of Automotive Engineering, Hanyang University)
Kim, Hyunkyu (Department of Automotive Engineering, Hanyang University)
Kim, Inkeun (Department of Automotive Engineering, Hanyang University)
Huh, Kunsoo (Department of Automotive Engineering, Hanyang University)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.23, no.5, 2015 , pp. 478-485 More about this Journal
Abstract
Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.
Keywords
Lateral velocity; Climbing angle; Unknown input observer; Dugoff tire model; Intelligent vehicle;
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Times Cited By KSCI : 2  (Citation Analysis)
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