Open AccessClimbing Angle Estimation in Yawing Motion by UIO
Author(s) -
Hyeongkyu Byeon,
Hyunkyu Kim,
Inkeun Kim,
Kunsoo Huh
Publication year - 2015
Publication title -
han'gug jadongca gonghaghoe nonmunjib/han-guk jadongcha gonghakoe nonmunjip
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.206
H-Index - 5
eISSN - 2234-0149
pISSN - 1225-6382
DOI - 10.7467/ksae.2015.23.5.478
Subject(s) - yaw , acceleration , climbing , control theory (sociology) , observer (physics) , euler angles , nonlinear system , simulation , computer science , engineering , physics , mathematics , artificial intelligence , automotive engineering , structural engineering , geometry , control (management) , classical mechanics , quantum mechanics
Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can’t be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can’t be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can’t be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.? ??? ???? 2008?? (07????A01)? ???? .
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