[논문]An Integrated Observer for Real-Time Estimation of Vehicle Center of Gravity Height

Park, Giseo; Choi, Seibum B.

doi:10.1109/tits.2020.2988508

[해외논문] An Integrated Observer for Real-Time Estimation of Vehicle Center of Gravity Height

IEEE transactions on intelligent transportation systems : a publication of the IEEE Intelligent Transportation Systems Council, v.22 no.9, 2021년, pp.5660 - 5671

Park, Giseo (Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea) , Choi, Seibum B. (Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea)

Abstract ▼ AI-Helper

This paper introduces a new integrated observer for estimating the vehicle center of gravity (CG) height in real time. It can assist the vehicle in monitoring the real-time rollover risk and improving the performance of vehicle safety control systems. The proposed integrated observer consists of three parts: a linearized recursive least square (LRLS) algorithm on vehicle longitudinal motion, an adaptation law on vehicle lateral motion, and observer synthesis. First, the LRLS algorithm performs estimation of vehicle mass and CG height during longitudinal braking and exploits the characteristic that normalized longitudinal tire stiffness is the same in the front and rear axles. Second, the adaptation law, accompanied by a roll angle observer, estimates CG height on the vehicle lateral motion based on Lyapunov stability analysis. It includes the following contributions: verification of robustness to the vehicle mass estimation error and prevention of integration drift. Finally, in the observer synthesis, the final estimation of CG height combining the above two results is derived. The overall estimation algorithm has high practicality due to the following features. 1) CG height can be obtained on both longitudinal and lateral motions of the vehicle. This point leads to a fast convergence rate in CG height estimation. 2) The fact that it does not cause any computational burden issues in real-time implementation is also a great advantage in terms of practicality. 3) It utilizes only readily available sensors. An experimental study with various driving scenarios evaluates the effectiveness of the proposed algorithm in real-car application.

참고문헌 (37)

Nonlinear Systems khalil 1996 3
Lee, Jounghee, Hyun, Dongyoon, Han, Kyoungseok, Choi, Seibum. Real-Time Longitudinal Location Estimation of Vehicle Center of Gravity. International journal of automotive technology, vol.19, no.4, 651-658.

상세보기
Vahidi, A., Stefanopoulou, A., Peng, H.. Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments. Vehicle system dynamics, vol.43, no.1, 31-55.

상세보기
Robust Adaptive Control ioannou 2012
arXiv 1904 09302 Model predictive control framework for improving vehicle cornering performance using handling characteristics han 2019
Proc IEEE Intell Trans Syst Conf Road grade and vehicle parameter estimation for longitudinal control using GPS bae 2001 166
Wenzel, T., Burnham, K., Blundell, M., Williams, R.. Dual extended Kalman filter for vehicle state and parameter estimation. Vehicle system dynamics, vol.44, no.2, 153-171.

상세보기
You, S.H., Hahn, J.O., Lee, H.. New adaptive approaches to real-time estimation of vehicle sideslip angle. Control engineering practice, vol.17, no.12, 1367-1379.

상세보기
Jangyeol Yoon, Wanki Cho, Bongyeong Koo, Kyongsu Yi. Unified Chassis Control for Rollover Prevention and Lateral Stability. IEEE transactions on vehicular technology, vol.58, no.2, 596-609.

상세보기
Rajamani, R., Piyabongkarn, D., Tsourapas, V., Lew, J. Y.. Parameter and State Estimation in Vehicle Roll Dynamics. IEEE transactions on intelligent transportation systems : a publication of the IEEE Intelligent Transportation Systems Council, vol.12, no.4, 1558-1567.

상세보기
Rath, Jagat Jyoti, Defoort, Michael, Veluvolu, Kalyana Chakravarthy. Rollover Index Estimation in the Presence of Sensor Faults, Unknown Inputs, and Uncertainties. IEEE transactions on intelligent transportation systems : a publication of the IEEE Intelligent Transportation Systems Council, vol.17, no.10, 2949-2959.

상세보기
10.1109/ICTIS.2017.8047738
10.1109/ACC.2009.5160045
10.1115/DSCC2008-2113
Momiyama, Fujio, Kitazawa, Keiichi, Miyazaki, Kiyoaki, Soma, Hitoshi, Takahashi, Toshimichi. Gravity center height estimation for the rollover compensation system of commercial vehicles. JSAE review, vol.20, no.4, 493-497.

상세보기
Huang, X., Wang, J.. Center of gravity height real-time estimation for lightweight vehicles using tire instant effective radius. Control engineering practice, vol.21, no.4, 370-380.

상세보기
Xiaoyu Huang, Junmin Wang. Real-Time Estimation of Center of Gravity Position for Lightweight Vehicles Using Combined AKF–EKF Method. IEEE transactions on vehicular technology, vol.63, no.9, 4221-4231.

상세보기
Park, Giseo, Hwang, Yoonjin, Choi, Seibum B.. Vehicle Positioning Based on Velocity and Heading Angle Observer Using Low-Cost Sensor Fusion. Journal of dynamic systems, measurement, and control, vol.139, no.12, 121008-.

상세보기
Vehicle Dynamics and Control rajamani 2006
Choi, Seibum B.. Practical vehicle rollover avoidance control using energy method. Vehicle system dynamics, vol.46, no.4, 323-337.

상세보기
Tire and Vehicle Dynamics pacejka 2005
Solmaz, Selim, Akar, Mehmet, Shorten, Robert, Kalkkuhl, Jens. Real-time multiple-model estimation of centre of gravity position in automotive vehicles. Vehicle system dynamics, vol.46, no.9, 763-788.

상세보기
10.1109/CCA.2012.6402651
10.1002/0470045345
Kim, Donghyun, Kim, Hyunsoo. Vehicle Stability Control with Regenerative Braking and Electronic Brake Force Distribution for a Four-Wheel Drive Hybrid Electric Vehicle. Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering, vol.220, no.6, 683-693.

상세보기
Fatality Facts 2018 Passenger Vehicle Occupants 2019
Types of rollovers 2012
Phanomchoeng, G., Rajamani, R.. New Rollover Index for the Detection of Tripped and Untripped Rollovers. IEEE transactions on industrial electronics : a publication of the IEEE Industrial Electronics Society, vol.60, no.10, 4726-4736.

상세보기
Proc Amer Control Conf A rollover mitigation control scheme based on rollover index yoon 2006 9
Piyabongkarn, D., Rajamani, R., Grogg, J.A., Lew, J.Y.. Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control. IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society, vol.17, no.1, 78-88.

상세보기
Kichun Jo, Keounyup Chu, Myoungho Sunwoo. Interacting Multiple Model Filter-Based Sensor Fusion of GPS With In-Vehicle Sensors for Real-Time Vehicle Positioning. IEEE transactions on intelligent transportation systems : a publication of the IEEE Intelligent Transportation Systems Council, vol.13, no.1, 329-343.

상세보기
Kichun Jo, Minchul Lee, Myoungho Sunwoo. Road Slope Aided Vehicle Position Estimation System Based on Sensor Fusion of GPS and Automotive Onboard Sensors. IEEE transactions on intelligent transportation systems : a publication of the IEEE Intelligent Transportation Systems Council, vol.17, no.1, 250-263.

상세보기
Park, Giseo, Choi, Seibum B., Hyun, Dongyoon, Lee, Jounghee. Integrated observer approach using in-vehicle sensors and GPS for vehicle state estimation. Mechatronics : mechanics, electronics, control, vol.50, 134-147.

상세보기
Mooryong Choi, Oh, Jiwon J., Choi, Seibum B.. Linearized Recursive Least Squares Methods for Real-Time Identification of Tire–Road Friction Coefficient. IEEE transactions on vehicular technology, vol.62, no.7, 2906-2918.

상세보기
10.1504/IJVD.2016.073702
Han, Kyoungseok, Lee, Eunjae, Choi, Mooryong, Choi, Seibum B.. Adaptive Scheme for the Real-Time Estimation of Tire-Road Friction Coefficient and Vehicle Velocity. IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, vol.22, no.4, 1508-1518.

상세보기
Han, Kyoungseok, Choi, Seibum B., Lee, Jonghyup, Hyun, Dongyoon, Lee, Jounghee. Accurate Brake Torque Estimation With Adaptive Uncertainty Compensation Using a Brake Force Distribution Characteristic. IEEE transactions on vehicular technology, vol.66, no.12, 10830-10840.

상세보기

LOADING...

활용도 분석정보

상세보기

다운로드

내보내기

활용도 Top5 논문

해당 논문의 주제분야에서 활용도가 높은 상위 5개 콘텐츠를 보여줍니다.
더보기 버튼을 클릭하시면 더 많은 관련자료를 살펴볼 수 있습니다.

원문 URL 링크

DOI : 10.1109/TITS.2020.2988508
IEEE : 저널 > 논문

*원문 PDF 파일 및 링크정보가 존재하지 않을 경우 KISTI DDS 시스템에서 제공하는 원문복사서비스를 사용할 수 있습니다.

저작권 관리 안내

내보내기 메뉴

내보내기 구분

파일저장
인쇄
메일전송

구성항목

기본정보
상세정보

관리번호, 논문명, 저널/프로시딩명, 저자 , 발행년, 권, 호, 시작페이지, 끝페이지, 발행기관

저장형식

Text(ASCII format)
Excel format
RefWorks Direct Export
RIS format (for Reference Manager, ProCite, EndNote), Scholar's Aids, Mendeley

메일정보

받는사람 (필수): @
보내는사람 (선택): @
제목
내용: KISTI 검색결과 이메일 서비스

안내

총 건의 자료가 검색되었습니다.

다운받으실 자료의 인덱스를 입력하세요. (1-10,000)

검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다.

데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요)

다운로드 파일은 UTF-8 형태로 저장됩니다.
파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오.

Text(ASCII format)
Excel format

표제어: PCR

동의어: Packet Collision Rate

용어 설명 출처 목록 (6)

용어 설명: PCR은 세균 특이성이 있는 primer를 이용하여 적은 수의 세균이 있을지라도 쉽게 검출할 수 있는 유용한 방법이며, 이를 이용하여 구강 내 치면세균막이나 타액에서 직접 세균을 검출할 수 있게 되었다[8].

AI-Helper ※ AI-Helper는 을 사용합니다.

AI-Helper

안녕하세요, AI-Helper입니다. 좌측 "선택된 텍스트"에서 텍스트를 선택하여 요약, 번역, 용어설명을 실행하세요.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.

연합인증