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비선형 Kalman Filter를 사용한 타이어 횡력 추정 시스템Tire Lateral Force Estimation System Using Nonlinear Kalman Filter
- Other Titles
- Tire Lateral Force Estimation System Using Nonlinear Kalman Filter
- Issue Date
- 2012
- Publisher
- 한국자동차공학회
- Keywords
- Tire lateral force(타이어 횡력); Sideslip angle(사이드슬립 앵글); Lateral velocity(횡방향 속도); Extended kalman filter(확장 칼만 필터); Unscented kalman filter(언센티드 칼만 필터); Ensemble kalman filter(앙상블 칼만 필터)
- Citation
- 한국자동차공학회 논문집, v.20, no.6, pp.126 - 131
- Indexed
- KCI
- Journal Title
- 한국자동차공학회 논문집
- Volume
- 20
- Number
- 6
- Start Page
- 126
- End Page
- 131
- ISSN
- 1225-6382
- Abstract
- Tire force is one of important parameters which determine vehicle dynamics. However, it is hard to measure tire force directly through sensors. Not only the sensor is expensive but also installation of sensors on harsh environments is difficult. Therefore, estimation algorithms based on vehicle dynamic models are introduced to estimate the tire forces indirectly. In this paper, an estimation system for estimating lateral force and states is suggested. The state-space equation is constructed based on the 3-DOF bicycle model. Extended Kalman Filter, Unscented Kalman Filter and Ensemble Kalman Filter are used for estimating states on the nonlinear system. Performance of each algorithm is evaluated in terms of RMSE (Root Mean Square Error) and maximum error.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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Related Researcher
- Huh, Kunsoo
- COLLEGE OF ENGINEERING (DEPARTMENT OF AUTOMOTIVE ENGINEERING)