Estimation of Vehicle Side Slip Angle by Using Acceleration Sensor (Second Report)
加速度センサを用いた車体スリップ角の推定（第2 報）
- Delivery
- Available on the other site
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- Publication code
- 20214136
- Paper/Info type
- JSAE Transaction
Vol.52 No.2
- Pages
- 280-285(Total 6 p)
- Date of publication
- Mar 2021
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | 研究論文 Translation |
|---|---|
| Category(E) | ResearchPaper |
| Author(J) | 1) 小山 陸, 2) 儘田 尚弥, 3) 毛利 宏 |
| Author(E) | 1) Riku Koyama, 2) Naoya Mamata, 3) Hiroshi Mouri |
| Affiliation(J) | 1) 東京農工大学, 2) 東京農工大学, 3) 東京農工大学 |
| Abstract(J) | 前後，横加速度センサと車輪速信号から拡張カルマンフィルタにて車体スリップ角を推定する方法を提案する．二種類の手法を記し，それぞれの課題と対策方法を記述した．両手法とも加速度センサオフセットによる推定精度の低下がみられるが，線形オブザーバにてオフセットを推定・除去する方法を合わせて提案した． Translation |
| Abstract(E) | In the first report, a method of estimating the vehicle body slip angle by trigonometric algebraic calculation was proposed. Two estimation methods are proposed using the basic formula. One is a method that combines the basic equation and the random walk model. The other is a method that combines the basic equation and the equation of motion of a rigid body. Both methods are realized using the extended Kalman filter. As a result of research, it was found that both methods can accurately estimate the vehicle body slip angle. However, it was confirmed that the estimation accuracy deteriorates due to the offset of the acceleration sensor signal. To solve the problem, we also propose a method using a linear observer. |
