| 제목 |
비선형 Kalman Filter를 사용한 타이어 횡력 추정 시스템 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
이동훈(한양대학교), 허건수(한양대학교), 김인근(한양대학교) |
| Key Words |
Tire lateral force(타이어 횡력), Sideslip angle(사이드슬립 앵글), Lateral velocity(횡방향 속도), Extended kalman filter(확장 칼만 필터), Unscented kalman filter(언센티드 칼만 필터), Ensemble kalman filter(앙상블 칼만 |
| 초록 |
Tire force is one of important parameters which determine vehicle dynamics. However, it is hard to measure tire force directly through sensors. Not only the sensor is expensive but also installation of sensors on harsh environments is difficult. Therefore, estimation algorithms based on vehicle dynamic models are introduced to estimate the tire forces indirectly. In this paper, an estimation system for estimating lateral force and states is suggested. The state-space equation is constructed based on the 3-DOF bicycle model. Extended Kalman Filter, Unscented Kalman Filter and Ensemble Kalman Filter are used for estimating states on the nonlinear system. Performance of each algorithm is evaluated in terms of RMSE (Root Mean Square Error) and maximum error. |
| 원문(PDF) |
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