Unscented Kalman Filter를 이용한 차량의 롤 각 추정기 설계

Abstract

In order to improve the cornering stability of the vehicle, the information about the vertical tire force and roll angle is required. So many researches have been conducted using a roll angle estimator based on Extended Kalman Filter (EKF). However, its performance drops sharply in various driving and road environments, because of the nonlinearity of bicycle model. Thus, we propose more robust roll angle estimator based on Unscented Kalman Filter (UKF) algorithm for the lateral acceleration nonlinearity change of vehicle