Experimental Analysis of Kalman Filter-Based Vehicle Sideslip Angle Estimation Accuracy and Related Error-Compensation Techniques (CROSBI ID 692952)
Prilog sa skupa u zborniku | sažetak izlaganja sa skupa | međunarodna recenzija
Podaci o odgovornosti
Hrgetić, Mario ; Deur, Joško
engleski
Experimental Analysis of Kalman Filter-Based Vehicle Sideslip Angle Estimation Accuracy and Related Error-Compensation Techniques
The paper presents an extended Kalman filterbased vehicle sideslip angle estimator, designed by using singletrack vehicle dynamics model. Within the vehicle dynamics model, the tire forces have been modeled as random walk stochastic sate variables. The accuracy of such estimator methodology has been investigated by running the estimator algorithm off-line on sets of experimental data recorded on the test vehicle. These data sets include those acquired from a high-precision inertial measurement unit and standard vehicle dynamics sensors. Moreover, major sources of the estimation errors have been identified and practical error compensation procedures have been proposed to significantly improve the sideslip angle estimation accuracy in the case of using the standard production vehicle sensors. In particular, the influence of vehicle roll and road bank angles is analyzed and compensated for.
vehicle dynamics, estimation, sideslip angle, Kalman filter, accuracy analysis
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Podaci o prilogu
2020.
objavljeno
10.1109/I2MTC43012.2020.9128588
Podaci o matičnoj publikaciji
Podaci o skupu
2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)
predavanje
25.05.2020-28.05.2020
Dubrovnik, Hrvatska