Vehicle roll and pitch angle estimation using a cost-effective six-dimensional inertial measurement unit

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The purpose of this paper is to estimate accurately the vehicle attitudes, i.e. the vehicle roll and pitch angles. It is assumed that a set of data obtained from a low-price six-dimensional inertial measurement unit is available. This includes the linear acceleration of the vehicle and the angular rates of all axes. In addition, the observer exploits the data from the wheel speed sensors, and the steering-wheel angle, which are already available for recent production cars. Using the above, based on the combination of the velocity kinematics and pseudointegration of the angle kinematics, a novel scheme for reference angle selection dependent on the cornering-stiffness adaptation is adopted to observe the angles. The stability of each component of the proposed observer is investigated, and a set of assessments to confirm the performance of the entire system is arranged via experiments using a real production sport utility vehicle.
Publisher
SAGE PUBLICATIONS LTD
Issue Date
2013
Language
English
Article Type
Article
Keywords

DESIGN; MITIGATION; CLUTCH

Citation

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, v.227, no.D4, pp.577 - 590

ISSN
0954-4070
DOI
10.1177/0954407012459138
URI
http://hdl.handle.net/10203/174947
Appears in Collection
ME-Journal Papers(저널논문)
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