감지시스템을 통한 차량의 횡 속도 및 슬립각 추정Monitoring System Design for Estimating Lateral Velocity and Sideslip Angle
- Other Titles
- Monitoring System Design for Estimating Lateral Velocity and Sideslip Angle
- Authors
- 한상오; 허건수
- Issue Date
- 2011
- Publisher
- 한국자동차공학회
- Keywords
- Lateral velocity(횡 방향 속도); Sideslip angle(슬립각); Sliding mode observer with unknown inputs(미지입력을 고려한 슬라이딩 모드 관측기); Recursive least square(최소 자승법)
- Citation
- 한국자동차공학회 논문집, v.19, no.1, pp.51 - 57
- Indexed
- KCI
- Journal Title
- 한국자동차공학회 논문집
- Volume
- 19
- Number
- 1
- Start Page
- 51
- End Page
- 57
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/169411
- ISSN
- 1225-6382
- Abstract
- Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.
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