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선회 시 차량의 등판각 추정 방법에 대한 고찰Climbing Angle Estimation in Yawing Motion
- Other Titles
- Climbing Angle Estimation in Yawing Motion
- Issue Date
- May-2013
- Publisher
- 한국자동차공학회
- Keywords
- Road Slope(도로 기울기); Intelligent Vehicle(지능형 자동차); Lateral Velocity(횡 속도); Climbing Angle(등 판각); Extended Kalman Filter(확장 칼만 필터)
- Citation
- 한국자동차공학회 부문종합 학술대회 논문집, pp.731 - 733
- Indexed
- OTHER
- Journal Title
- 한국자동차공학회 부문종합 학술대회 논문집
- Start Page
- 731
- End Page
- 733
- Abstract
- Recently, the information of climbing angle is becoming more important in the intelligent vehicle system. First, climbing angle can be used to compensate the unexpected load on the powertrain system. Also, climbing angle information is important when observing its global position accurately. In this paper, two climbing angle estimation algorithms in case of yawing motion are described. The first algorithm uses 2-DOF dynamic model for the compensation of longitudinal acceleration. The second algorithm uses geometrical relations of climbing angle, heading angle and road slope. The performance of the proposed estimation algorithms is verified using the commercial software.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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