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Robust and Cost-effective Vehicle Si...

Yoon, Jong-Hwa.

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Robust and Cost-effective Vehicle Sideslip Estimation by using GPS.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Robust and Cost-effective Vehicle Sideslip Estimation by using GPS./
作者:	Yoon, Jong-Hwa.
面頁冊數:	151 p.
附註:	Source: Dissertation Abstracts International, Volume: 74-10(E), Section: B.
Contained By:	Dissertation Abstracts International74-10B(E).
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3566227
ISBN:	9781303171512

Robust and Cost-effective Vehicle Sideslip Estimation by using GPS.
Yoon, Jong-Hwa.

Robust and Cost-effective Vehicle Sideslip Estimation by using GPS. - 151 p.

Source: Dissertation Abstracts International, Volume: 74-10(E), Section: B.

Thesis (Ph.D.)--University of Michigan, 2013.

Electronic Stability Control (ESC) is an effective active safety system that has become standard equipment on modern passenger vehicles. When a vehicle path begins to deviate from the driver's steering intention, ESC applies differential braking to secure driver's control authority. ESC is known to save lives by preventing vehicle rollover accidents. The vehicle sideslip angle is defined by the angle formed between longitudinal and lateral velocities and it is critical information for the operation of ESC.

ISBN: 9781303171512Subjects--Topical Terms:

783786
Engineering, Mechanical.

Robust and Cost-effective Vehicle Sideslip Estimation by using GPS.
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500 $a Source: Dissertation Abstracts International, Volume: 74-10(E), Section: B.
500 $a Adviser: Huei Peng.
502 $a Thesis (Ph.D.)--University of Michigan, 2013.
520 $a Electronic Stability Control (ESC) is an effective active safety system that has become standard equipment on modern passenger vehicles. When a vehicle path begins to deviate from the driver's steering intention, ESC applies differential braking to secure driver's control authority. ESC is known to save lives by preventing vehicle rollover accidents. The vehicle sideslip angle is defined by the angle formed between longitudinal and lateral velocities and it is critical information for the operation of ESC.
520 $a Vehicle dynamic model-based methods work for only small sideslip angles (4 degree or less). Estimation performance of the Inertial Measurement Unit (IMU) integration-based methods is drastically deteriorated by unknown sensor bias and drift. The Global Positioning System (GPS)-based methods struggle to provide a cost effective method that meets the performance requirements of ESC.
520 $a The author proposed two low-cost GPS-based methods; (1) a two-GPS method and (2) a GPS/magnetometer-based method. The two-GPS method utilizes the kinematic coupling of velocities of two GPS receivers to extract vehicle yaw angles. This yaw angle is combined with the course angle measured by GPS velocity to yield the vehicle sideslip angle. As low-cost GPS has low update rate, GPS measurements are merged with fast updating IMU signals through the Kalman filter. The significant latency in GPS measurement and the unsynchronized update of two GPS receivers are two technical challenges. They are addressed by the 'measurement shift' and the 'asynchronous' measurement update techniques.
520 $a The GPS/magnetometer-based method combines measurements of a magnetometer with GPS to estimate vehicle sideslip angles. The Earth's magnetic field measured by a magnetometer contains yaw, pitch and roll angles of a vehicle. Vehicle yaw and roll angles are extracted through an Extended Kalman Filter (EKF) which merges measurements of a magnetometer and IMU. Along with the obtained yaw/roll angles, GPS velocities are combined with acceleration measurements of the IMU to yield the vehicle sideslip estimation. A magnetometer is known to be susceptible to large disturbances. This concern is addressed by a new stochastic filter rejecting disturbances. This new filter is based on the bivariate normal-uniform distribution and is integrated on the Kalman filter frame work. Stochastic observability analysis reveals that that sideslip angle is observable only when a vehicle turns; hence a bicycle model is employed during straight driving. For design verification, a simulation study was conducted using Carsim(TM). Four types of maneuvers were combined with two friction types and two road bank types. The sideslip estimation stayed close to the true value regardless of friction type and road bank angles. For robustness verification, experimental verifications were run in two ways. One method was to run pre-defined maneuvers on a test track, and the other was to drive the vehicle in a neighborhood area emulating daily driving. A fully equipped GM Silverado truck was used. On-track data showed an RMS error of 1.3° and neighborhood area data had an RMS of 2.45°. The performance was degraded from the simulation because the method did not fully account for road pitch angles and the magnetic field was noisy in general.
520 $a The vehicle sideslip estimation is challenging task because of the tight requirement necessary for ESC, specifically an RMS error no greater than 1.5° The GPS/magnetometer-based method showed the potential to meet the requirement. The estimation accuracy improvement will be pursued as future work. The author still believes GPS has a promising future in meeting this tight requirement because its reliability and accuracy will be boosted with help from the GALILEO. (Abstract shortened by UMI.).
590 $a School code: 0127.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Automotive. $3 1018477
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710 2 $a University of Michigan. $b Mechanical Engineering. $3 2104815
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793 $a English
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