Journal ArticleDOI
Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness
TLDR
The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems.Abstract:
This paper details a unique method for estimating key vehicle states-body sideslip angle, tire sideslip angle, and vehicle attitude-using Global Positioning System (GPS) measurements in conjunction with other sensors. A method is presented for integrating Inertial Navigation System sensors with GPS measurements to provide higher update rate estimates of the vehicle states. The influence of road side-slope and vehicle roll on estimating vehicle sideslip is investigated. A method using one GPS antenna that estimates accelerometer errors occurring from vehicle roll and sensor drift is first developed. A second method is then presented utilizing a two-antenna GPS system to provide direct measurements of vehicle roll and heading, resulting in improved sideslip estimation. Additionally, it is shown that the tire sideslip estimates can be used to estimate the tire cornering stiffnesses. The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systemsread more
Citations
More filters
Journal ArticleDOI
In-Car Positioning and Navigation Technologies—A Survey
Isaac Skog,Peter Händel +1 more
TL;DR: A survey of the information sources and information fusion technologies used in current in-car navigation systems is presented and the pros and cons of the four commonly used information sources are described.
Journal ArticleDOI
A comprehensive review on estimation strategies used in hybrid and battery electric vehicles
Mehmet Ugras Cuma,Tahsin Koroglu +1 more
TL;DR: In this article, the authors present a comprehensive review on various estimation strategies used in hybrid and battery electric vehicles for the first time in the literature, and different methodologies used in each estimation strategy are elaborated.
Journal ArticleDOI
Lateral Stability Control of In-Wheel-Motor-Driven Electric Vehicles Based on Sideslip Angle Estimation Using Lateral Tire Force Sensors
TL;DR: Using the estimated sideslip angle and tire cornering stiffness, the vehicle stability control system, making best use of the advantages of IMW-EVs with a steer-by-wire system, is proposed.
Journal ArticleDOI
Estimation of Sideslip and Roll Angles of Electric Vehicles Using Lateral Tire Force Sensors Through RLS and Kalman Filter Approaches
TL;DR: Novel methods for estimating sideslip angle and roll angle using real-time lateral tire force measurements, obtained from the multisensing hub units, for practical applications to vehicle control systems of in-wheel-motor-driven electric vehicles are proposed.
Journal ArticleDOI
GPS Multipath Mitigation for Urban Area Using Omnidirectional Infrared Camera
TL;DR: The proposed technique mitigates GPS multipath by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites by using IR images and confirms the effectiveness of the proposed technique and the feasibility of highly accurate positioning.
References
More filters
Journal ArticleDOI
The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications
TL;DR: The algorithm exploits nonholonomic constraints that govern the motion of a vehicle on a surface to obtain velocity observation measurements which aid in the estimation of the alignment of the IMU as well as the forward velocity of the vehicle.
Journal ArticleDOI
Land-vehicle navigation using GPS
E. Abbott,D. Powell +1 more
TL;DR: A quantitative examination of the impact that individual navigation sensors have on the perfomance of a land-vehicle navigation system shows that the accuracy of the GPS position fixes has a significant impact on the relative contributions that each dead-reckoning navigation sensor error makes.
Proceedings Article
Road grade and vehicle parameter estimation for logitudinal control using gps.
TL;DR: In this paper, two antennae are used to directly measure the attitude of the vehicle in the pitch plane; in the second method, the ratio of vertical to horizontal velocity at a single antenna is used to estimate road grade.
Journal ArticleDOI
Modification of vehicle handling characteristics via steer-by-wire
P. Yih,J.C. Gerdes +1 more
TL;DR: Experimental results verify that with precise steering control and accurate state information, the handling modification is exactly equivalent to changing the front tire cornering stiffness.
Related Papers (5)
Integrating Inertial Sensors With Global Positioning System (GPS) for Vehicle Dynamics Control
Jihan Ryu,J. Christian Gerdes +1 more