Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness

Bevly, David M.; Ryu, Jeha; Gerdes, J. Christian

doi:10.1109/tits.2006.883110

Cited by 275 publications

(134 citation statements)

References 16 publications

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“…Therefore, many researches have been proposed to reduce the cost. In [3], [4], GPS (Global Positioning System) and INS (Inertial Navigation System) sensors are used to estimate vehicle tire slips. And a different algorithm or method have been suggested for more accurate estimation in [5].…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of EKF and UKF for Estimating Tire Longitudinal and Side Angle Slip

Song

Ahn²,

Kim³

et al. 2016

MATEC Web Conf.

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Abstract. Accurate tire slip estimation might be regarded as a small portion of the vehicle safety but is important criterion. Furthermore, as an autonomous vehicle system gets sophisticated, this type of technique will be more necessary. In this paper performance analysis for slip estimation in various situations is presented with several commonly known filter-extended Kalman filter (EKF) and unscented Kalman filter (UKF). Tire slip behaves differently depending on the surface type, the motion of the robot, and other environmental factors. Therefore, different kinds of situations and conditions are considered to estimate more accurate tire slip. Also as far as the tire slip is not based on actual data, it will be assumed to imitate the real tire slip behavior based on other study data. Finally, the performances of two filtering algorithms are compared to find more adequate algorithm with respect to the given condition for the future experimental results.

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Section: Introductionmentioning

confidence: 99%

Performance Analysis of EKF and UKF for Estimating Tire Longitudinal and Side Angle Slip

Song

Ahn²,

Kim³

et al. 2016

MATEC Web Conf.

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“…The yaw rate can be directly measured by a yaw rate sensor (gyroscope) [3,4]. In addition, the sideslip angle can be directly measured via optical or GPS sensors [5,6,7]. However, the drawbacks of measuring the yaw rate and the sideslip angle are accuracy, reliability and cost [8].…”

Section: Introductionmentioning

confidence: 99%

Sideslip angle estimator based on ANFIS for vehicle handling and stability

Boada

Gauchía

et al. 2015

J Mech Sci Technol

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“…GPS can be used to measure not only vehicle positions, but also velocity and attitude. By using a double-antenna GPS receiver, sideslip angle can be calculated directly [12]. A single-antenna GPS receiver can be combined with a yaw rate sensor to estimate both sideslip angle and yaw angle using a Kalman filter [13].…”

Section: Introductionmentioning

confidence: 99%

“…In [14], the integration of single antenna GPS and a magnetometer introduces a new method for sideslip angle estimation. Due to the poor update rate of GPS receiver (1-10 Hz), the method proposed in [12] cannot satisfy the requirement of advanced motion control of EVs in which the control signals are generated every 1 millisecond. The fusion of GPS receiver and yaw rate sensor in [13] can provide high-rate sideslip angle estimation.…”

Section: Introductionmentioning

confidence: 99%

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Nguyen¹,

Fujimoto²,

Hori³

2013

Journal of Electrical Engineering and Technology

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-This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

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Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness

Cited by 275 publications

References 16 publications

Performance Analysis of EKF and UKF for Estimating Tire Longitudinal and Side Angle Slip

Performance Analysis of EKF and UKF for Estimating Tire Longitudinal and Side Angle Slip

Sideslip angle estimator based on ANFIS for vehicle handling and stability

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

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