Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Vehicle Longitudinal Velocity Estimation on Inclined Road

경사진 노면에서의 차량의 종 속도 추정

  • Lee, Sang-Yeob (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Kim, In-Keun (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Lee, Dong-Hun (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Huh, Kun-Soo (School of Mechanical Engineering, Hanyang University)
  • 이상엽 (한양대학교 대학원 자동차공학과) ;
  • 김인근 (한양대학교 대학원 자동차공학과) ;
  • 이동훈 (한양대학교 대학원 자동차공학과) ;
  • 허건수 (한양대학교 기계공학부)
  • Received : 2010.08.04
  • Accepted : 2011.08.08
  • Published : 2012.01.01
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Abstract

On-line and real-time information of the longitudinal velocity is the essential factor for the Advanced Vehicle Control Systems such as ABS(Anti-lock Brake System), TCS(Traction Control System), ESC (Electronic Stability Control) etc. However, the longitudinal velocity cannot be easily measured or calculated during braking maneuvering. A new algorithm is presented for the estimation of the longitudinal velocity with the measurements of the vehicle longitudinal/lateral acceleration, steering angle and yaw rate. The algorithm is designed utilizing the Extended Kalman Filter based on the 3 degree of freedom vehicle model. In order to compensate for the biased sensor signal on the inclined road, the inclined angle is also estimated. The performance of the proposed estimation algorithm is evaluated in field tests.

Keywords

References

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Cited by

  1. Vehicle Dynamics and Road Slope Estimation based on Cascade Extended Kalman Filter vol.51, pp.9, 2014, https://doi.org/10.5573/ieie.2014.51.9.208