Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Climbing Angle Estimation in Yawing Motion by UIO

UIO를 이용한 선회 시 등판각 추정

  • Byeon, Hyeongkyu (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Hyunkyu (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Inkeun (Department of Automotive Engineering, Hanyang University) ;
  • Huh, Kunsoo (Department of Automotive Engineering, Hanyang University)
  • 변형규 (한양대학교 자동차공학과) ;
  • 김현규 (한양대학교 자동차공학과) ;
  • 김인근 (한양대학교 자동차공학과) ;
  • 허건수 (한양대학교 미래자동차공학과)
  • Received : 2014.11.19
  • Accepted : 2015.05.20
  • Published : 2015.09.01
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Abstract

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.

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References

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