Sideslip angle and tire-road friction coefficient estimation simultaneously for autonomous vehicle

被引：0
|
作者：
Lin, Xuefeng [1 ,2 ]
Xiong, Lu [1 ,2 ]
Xia, Xin [1 ,2 ]
机构：
[1] Tongji Univ, Sch Automot Studies, Shanghai, Peoples R China
[2] Tongji Univ, Natl Collaborat Innovat Ctr 2011, Shanghai, Peoples R China
来源：
DYNAMICS OF VEHICLES ON ROADS AND TRACKS, VOL 1 | 2018年
关键词：
DESIGN;
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学科分类号：
摘要：
This article covers a method to estimate the sideslip angle and the max tire-road friction coefficient simultaneously via inertial measurement unit, steering system and stereo camera equipped in the front of the autonomous vehicle. First the steering system model is constructed as two order system to estimate the kingpin torque. And then the estimation algorithm feedback gain is designed. Finally the stability of the estimation algorithm is proved through Lyapunov method. Simulation results show the proposed algorithm's performance is better than extend Kalman filter algorithm.
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页码：425 / 430
页数：6
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