期刊
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
卷 17, 期 3, 页码 427-435出版社
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
DOI: 10.1007/s12239-016-0044-7
关键词
GPS; Kalman filter; Magnetometer; Sideslip angle; Tire-road friction coefficient
资金
- National Research Foundation of Korea [21A20131711119] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper presents a method that estimates the vehicle sideslip angle and a tire-road friction coefficient by combining measurements of a magnetometer, a global positioning system (GPS), and an inertial measurement unit (IMU). The estimation algorithm is based on a cascade structure consisting of a sensor fusing framework based on Kalman filters. Several signal conditioning techniques are used to mitigate issues related to different signal characteristics, such as latency and disturbances. The estimated sideslip angle information and a brush tire model are fused in a Kalman filter framework to estimate the tire-road friction coefficient. The performance and practical feasibility of the proposed approach were evaluated through several tests.
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