Robust and Cost-effective Vehicle Sideslip Estimation by Using GPS.

Stochastic Filter to Estimate the Vehicle Sideslip Angle Estimation;Sensor Fusion: GPS;IMU;and Magnetometer;Mechanical Engineering;Engineering;Mechanical Engineering

Yoon, Jong-HwaGordon, Timothy J. ;

University of Michigan

关键词: Stochastic Filter to Estimate the Vehicle Sideslip Angle Estimation;    Sensor Fusion: GPS;    IMU;    and Magnetometer;    Mechanical Engineering;    Engineering;    Mechanical Engineering;   

Others  :  https://deepblue.lib.umich.edu/bitstream/handle/2027.42/97808/jongy_1.pdf?sequence=1&isAllowed=y

瑞士|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Electronic Stability Control (ESC) is an effective active safety system that has become standard equipment on modern passenger vehicles. When a vehicle path begins to deviate from the driver’s steering intention, ESC applies differential braking to secure driver’s control authority. ESC is known to save lives by preventing vehicle rollover accidents.The vehicle sideslip angle is defined by the angle formed between longitudinal and lateral velocities and it is critical information for the operation of ESC. In spite of tremendous research efforts, a practical method guaranteeing accurate estimation of vehicle slip angle has not been fully developed yet. Vehicle dynamic model-based methods work for only small sideslip angles (4 degree or less). Estimation performance of the Inertial Measurement Unit (IMU) integration-based methods is drastically deteriorated by unknown sensor bias and drift. The Global Positioning System (GPS)-based methods struggle to provide a cost effective method that meets the performance requirements of ESC.The author proposed two low-cost GPS-based methods; (1) a two-GPS method and (2) a GPS/magnetometer-based method. The two-GPS method utilizes the kinematic coupling of velocities of two GPS receivers to extract vehicle yaw angles. This yaw angle is combined with the course angle measured by GPS velocity to yield the vehicle sideslip angle.The GPS/magnetometer-based method combines measurements of a magnetometer with GPS to estimate vehicle sideslip angles. With this method, the sideslip estimation stayed close to the true value regardless of friction type and road bank angles. The vehicle sideslip estimation is challenging task because of the tight requirement necessary for ESC, specifically an RMS error no greater than 1.5o. The GPS/magnetometer-based method showed the potential to meet the requirement. The estimation accuracy improvement will be pursued as future work. The author still believes GPS has a promising future in meeting this tight requirement because its reliability and accuracy will be boosted with help from the GALILEO.