UIO를 이용한 선회 시 등판각 추정Climbing Angle Estimation in Yawing Motion by UIO
- Other Titles
- Climbing Angle Estimation in Yawing Motion by UIO
- Authors
- 변형규; 김현규; 김인근; 허건수
- Issue Date
- 2015
- Publisher
- 한국자동차공학회
- Keywords
- Lateral velocity(횡속도); Climbing angle(등판각); Unknown input observer(미지입력관측기); Dugoff tire model(Dugoff 타이어 모델); Intelligent vehicle(지능형자동차)
- Citation
- 한국자동차공학회 논문집, v.23, no.5, pp.478 - 485
- Indexed
- KCI
- Journal Title
- 한국자동차공학회 논문집
- Volume
- 23
- Number
- 5
- Start Page
- 478
- End Page
- 485
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158254
- ISSN
- 1225-6382
- Abstract
- Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can’t be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can’t be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can’t be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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