20권 1호 14-19 2012 [한국자동차공학회 논문집 ]
| 제목 | 경사진 노면에서의 차량의 종 속도 추정 |
|---|---|
| 분야 | 차량동역학 및 제어 |
| 언어 | Korean |
| 저자 | 이상엽(한양대학교), 허건수(한양대학교), 김인근(한양대학교), 이동훈(한양대학교) |
| Key Words | Longitudinal velocity(종 속도), Inclined angle estimation(경사각 추정), Longitudinal acceleration compensation(종 가속도 보정), Extended kalman filter(확장된 칼만필터) |
| 초록 |
On-line and real-time information of the longitudinal velocity is the essential factor for the Advanced Vehicle Control Systems such as ABS(Anti-lock Brake System), TCS(Traction Control System), ESC(Electronic Stability Control) etc. However, the longitudinal velocity cannot be easily measured or calculated during braking maneuvering. A new algorithm is presented for the estimation of the longitudinal velocity with the measurements of the vehicle longitudinal/lateral acceleration, steering angle and yaw rate. The algorithm is designed utilizing the Extended Kalman Filter based on the 3 degree of freedom vehicle model. In order to compensate for the biased sensor signal on the inclined road, the inclined angle is also estimated. The performance of the proposed estimation algorithm is evaluated in field tests. |
| 원문(PDF) | 다운로드 |