Estimation of vehicle sideslip angle and tire-road friction coefficient based on magnetometer with GPS

被引：55
|
作者：
Yoon, J. -H. [1 ]
Li, S. Eben [2 ]
Ahn, C. [3 ]
机构：
[1] TRW Automot, Syst & Control Design, Livonia, MI 48150 USA
[2] Tsinghua Univ, State Key Lab Automot Safety & Energy, Beijing 100048, Peoples R China
[3] Pusan Natl Univ, Sch Mech Engn, Busan 46241, South Korea
来源：
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY | 2016年 / 17卷 / 03期
关键词：
GPS; Kalman filter; Magnetometer; Sideslip angle; Tire-road friction coefficient; POSITIONING SYSTEM GPS; IDENTIFICATION; SENSOR; FILTER;
D O I：
10.1007/s12239-016-0044-7
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a method that estimates the vehicle sideslip angle and a tire-road friction coefficient by combining measurements of a magnetometer, a global positioning system (GPS), and an inertial measurement unit (IMU). The estimation algorithm is based on a cascade structure consisting of a sensor fusing framework based on Kalman filters. Several signal conditioning techniques are used to mitigate issues related to different signal characteristics, such as latency and disturbances. The estimated sideslip angle information and a brush tire model are fused in a Kalman filter framework to estimate the tire-road friction coefficient. The performance and practical feasibility of the proposed approach were evaluated through several tests.
引用
收藏
页码：427 / 435
页数：9
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