자동차안전학회지 (Journal of Auto-vehicle Safety Association)

한국자동차안전학회 (Korean Auto-vehicle Safety Association)
권호 표지
DOI QR코드

DOI QR Code

자율주행 버스의 종방향 제어를 위한 질량 및 종 경사 추정기 개발

Vehicle Mass and Road Grade Estimation for Longitudinal Acceleration Controller of an Automated Bus

  • 조아라 (서울대학교 기계항공공학부) ;
  • 정용환 (현대자동차) ;
  • 임형호 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • 투고 : 2019.11.11
  • 심사 : 2020.04.25
  • 발행 : 2020.06.30
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents a vehicle mass and road grade estimator for developing an automated bus. To consider the dynamic characteristics of a bus varying with the number of passengers, the longitudinal controller needs the estimation of the vehicle's mass and road grade in real-time and utilizes the information to adjust the control gains. Discrete Kalman filter is applied to estimate the time-varying road grade, and the recursive least squares algorithm is adopted to account for the constant mass estimation. After being implemented in MATLAB/Simulink, the estimators are evaluated with the dynamic model and experimental data of the target bus. The proposed estimators will be applied to complement the algorithm of the longitudinal controller and proceed with algorithm verification.

키워드

참고문헌

  1. Chae, H. S., Jeong, Y.H., Min, K. C., Lee, M. S., and Yi, K. S., 2017, "Automated Driving Lane Change Algorithm Based on Robust Model Predictive Control for Merge Situations on Highway Intersections", Transactions of the Korean Society of Mechanical Engineers A, Vol. 41, No. 7, pp. 575-583. https://doi.org/10.3795/KSME-A.2017.41.7.575
  2. Bae, H. S., Ryu, J., and Gerdes, J. C., 2001, "Road Grade and Vehicle Parameter Estimation for Longitudinal Control Using GPS", Proceedings of the IEEE Conference on Intelligent Transportation Systems, pp. 25-29.
  3. Wang, B., Wang, H., Wu, L., and Cai, L., 2020, "Truck Mass Estimation Method based on the On-board Sensor", Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, pp. 1-15.
  4. Kidambi, N., Pietron, G. M., Boesch, M., Fujii, Y., and Wang, K.W., 2017, "Accuracy and Robustness of Parallel Vehicle Mass and Road Grade Estimation", SAE International Journal of Vehicle Dynamics, Stability, and NVH, Vol. 8, No. 2, pp. 317-325.
  5. Vahidi, A., Stefanopoulou, A. and Peng, H., 2005, "Recursive Least Squares with Forgetting for Online Estimation of Vehicle Mass and Road Grade", Vehicle System Dynamics, Vol. 43, No. 1, pp. 31-55. https://doi.org/10.1080/00423110412331290446
  6. Mclntyre, M.L., Ghotikar, T.J., Vahidi, A., Song, X. and Dawson, D.M., 2009, "A Two-Stage Lyapunov-Based Estimator for Estimation of Vehicle Mass and Road Grade", IEEE Transactions on Vehicular Technology, Vol. 58, No. 7, pp. 3177-3185. https://doi.org/10.1109/tvt.2009.2014385
  7. Sun, Y., Li, L., Yan, B., Yang, C. and Tang, G., 2016, "A Hybrid Algorithm Combining EKF and RLS in Synchronous Estimation of Road Grade and Vehicle Mass for a Hybrid Electric Bus", Mechanical Systems and Signal Processing, Vol. 86, No. 69, pp. 416-430
  8. Jo, K., Kim, J. and Sunwoo, M., 2013, "Real-time Road-slope Estimation based on Integration of Onboard Sensors with GPS using an IMMPDA Filter", IEEE Transactions on Intelligent Transportation Systems, Vol. 14, No. 4, pp. 1718-1732. https://doi.org/10.1109/TITS.2013.2266438
  9. Jo, K., Lee, M., and Sunwoo, M., 2016, "Road Slope Aided Vehicle Position Estimation System Based on Sensor Fusion of GPS and Automotive Onboard Sensors", IEEE Transactions on Intelligent Transportation Systems, Vol. 17, No. 1, pp. 250-263. https://doi.org/10.1109/TITS.2015.2464697
  10. Firoozi, R., Nazari, S., Guanetti, J., O'Gorman, R., and Borrelli, F, 2018, "Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication", Proceedings of the American Control Conference, pp. 4448-4453.
  11. Rajamani, R., 2012, Vehicle Dynamics and Control, Springer, pp. 87-111.
  12. Gillespie, T.D., 1992, Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, pp. 21-32.
  13. Jazar, R.N., 2008, Vehicle Dynamics: Theory and Application, Springer, pp. 119-122.