Vehicle State Estimation Robust to Wheel Slip Using Extended Kalman Filter

Myeonggeun Jun; Ara Jo; Kyongsu Yi

doi:10.22680/kasa2022.14.4.016

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2022 Vol.14, Issue 4 Preview Page Next Page

Vehicle State Estimation Robust to Wheel Slip Using Extended Kalman Filter 휠 슬립에 강건한 확장칼만필터 기반 차량 상태 추정

31 December 2022. pp. 16-20

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Abstract

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

Keywords

Extended Kalman Filter

Yaw rate estimation

Steering wheel angle

키워드

국문키워드

확장 칼만 필터, 요 각속도 추정, 조향각

References

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Antonov, S., Fehn, A., and Kugi, A., 2011, Unscented Kalman filter for vehicle state estimation. Vehicle System Dynamics, Vol. 49, No. 9, pp. 1497~1520. 10.1080/00423114.2010.527994

Dong, X., Jiang, Y., Zhong, Z., and Zeng, W., 2018, Rollover threshold investigation of a heavy-duty vehicle during cornering based on multi-body dynamics, Advances in mechanical engineering, Vol. 10, No. 7, 1687814018 789505. 10.1177/1687814018789505

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N. Kazantzis and C. Kravaris, 1999, Time-discretization of nonlinear control systems via Taylor methods, Comp. Chem. Engn., Vol. 23, No. 6, pp. 763~784. 10.1016/S0098-1354(99)00007-1

Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 14
No :4
Pages :16-20
Received Date : 2022-06-07
Revised Date : 2022-09-08
Accepted Date : 2022-09-13
DOI :https://doi.org/10.22680/kasa2022.14.4.016

Journal of Auto-vehicle Safety AssociationISSN:2005-9396(Print)한국자동차안전학회

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