비선형 Kalman Filter를 사용한 타이어 횡력 추정 시스템
- Title
- 비선형 Kalman Filter를 사용한 타이어 횡력 추정 시스템
- Other Titles
- Tire Lateral Force Estimation System Using Nonlinear Kalman Filter
- Author
- 허건수
- Keywords
- 타이어 횡력; 사이드슬립 앵글; 횡방향 속도; 확장 칼만 필터; 언센티드 칼만 필터; 앙상블 칼만 필터; Tire lateral force; Sideslip angle; Lateral velocity; Extended kalman filter; Unscented kalman filter; Ensemble kalman filter
- Issue Date
- 2012-06
- Publisher
- 한국자동차공학회
- Citation
- 한국자동차공학회 학술대회 논문집, 2012, 20(6), P.126-131
- Abstract
- Tire force is one of important parameters which determine vehicle dynamics. However, it is hard to measurem 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.
- URI
- http://koreascience.or.kr/article/ArticleFullRecord.jsp?cn=JDCGCC_2012_v20n6_126
- ISSN
- 1225-6382
- DOI
- 10.7467/KSAE.2012.20.6.126
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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