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박건홍(Gunhong Park),장유신(Yushin Chang),류재헌(Jaeheon Ryu),박석현(Seokhyun Park),이춘한(Chunhan Lee),홍신표(Sinpyo Hong),이만형(Manhyung Lee) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
In this paper deals with a unique method for measuring vehicle states such as body sideslip angle and tire<br/> sideslip angle using GPS velocity information in conjunction with other sensors. A method for integrating<br/> Inertial Navigation System (INS) sensors with GPS measurements to provide higher update rate estimates of<br/> the vehicle states is presented, and the method can be used to estimate the tire cornering stiffness. The<br/> experimental results for the GPS velocity-based sideslip angle measurement and cornering stiffness estimates<br/> are compared with the theoretical predictions. From the experimental results, it can be concluded that the<br/> proposed method has an advantage for future implementation in a vehicle safety system.
GPS를 이용한 차량의 Sideslip Angle 추정
박건홍(Gunhong Park),장유신(Yushin Chang),류재헌(Jaeheon Ryu),이춘한(Chunhan Lee),박석현(Seokhyun Park),이만형(Manhyung Lee) 한국자동차공학회 2004 한국자동차공학회 지부 학술대회 논문집 Vol.- No.-
This paper proposes a new method to estimate vehicle state such as sideslip angle and lateral velocity integrating Global Positioning System(GPS) and Inertial Measurement Unit(IMU). The method Integrating GPS and IMU provides more precise and high rate speed information that is necessary to get sideslip angle and lateral velocity. To integrate the GPS and IMU, Kalman filter is used. The experimental results for the GPS velocity-based sideslip angle measurement and lateral velocity estimates are compared with the theoretical predictions. Using these vehicle state, vehicle control system can be improved such as braking control, stability control and lateral control system