선회 시 차량의 등판각 추정 방법에 대한 고찰

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 isimportant when observing its global position accurately. In this paper, two climbing angle estimation algorithms in case ofyawing motion are described. The first algorithm uses 2-DOF dynamic model for the compensation of longitudinalacceleration. The second algorithm uses geometrical relations of climbing angle, heading angle and road slope. Theperformance of the proposed estimation algorithms is verified using the commercial software.