[논문]Vehicle Side-Slip Angle Estimation of Ground Vehicles Based on a Lateral Acceleration Compensation

Cho, Kwanghyun; Son, Hyunwoo; Wang, Yafei; Nam, Kanghyun; Choi, Seibum

doi:10.1109/access.2020.3028044

[해외논문] Vehicle Side-Slip Angle Estimation of Ground Vehicles Based on a Lateral Acceleration Compensation 원문보기

IEEE access : practical research, open solutions, v.8, 2020년, pp.180433 - 180443

Cho, Kwanghyun (Manufacturing Technology Center, Samsung Electronics Company Ltd., Suwon, South Korea) , Son, Hyunwoo (Plant Intelligent Team, Samsung SDS Company Ltd., Seoul, South Korea) , Wang, Yafei (School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China) , Nam, Kanghyun (School of Mechanical Engineering, Yeungnam University, Gyeongsan, South Korea) , Choi, Seibum (Korea Advanced Institute of Science and Technology, Daejeon, South Korea)

Abstract ▼ AI-Helper

For vehicle stability control system to function properly under a variety of changing road conditions and driver’s inputs, precise estimations of vehicle states are necessarily required. In particular, information on the side-slip angle is critical to vehicle handling and safety control. Since commercial sensors measuring the side-slip angle are not cost effective, estimation methods that use available sensor measurements and vehicle dynamics models are necessarily required. This paper proposes a novel methodology to estimate the side-slip angle which is used as an index of vehicle stability. A side-slip angle observer is designed using the bicycle model and the kinematic model. Here, in order to directly use the lateral accelerometer signal, the lateral acceleration compensation method through the roll angle estimation is proposed. The estimation performance is verified under various road conditions and different driver’s inputs using HIL test equipment including commercial vehicle dynamics simulation software CarSim.

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