Analysis and Compensation of Wheel Speed Sensor-based Kinematic Yaw Rate Estimation Errors (CROSBI ID 554548)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Hrgetić, Mario ; Deur, Joško ; Cifrek, Mario ; Lakehal-Ayat, Mohsen ; Tseng, Eric
engleski
Analysis and Compensation of Wheel Speed Sensor-based Kinematic Yaw Rate Estimation Errors
The yaw rate, being the essential vehicle dynamics control variable, can be estimated based on the non-driven wheel speed measurement. The yaw rate estimate can be used for the gyroscope fault detection or can be integrated with other kinematic estimators utilizing a sensor fusion concept. However, the estimation accuracy is substantially reduced during braking maneuvers. Static and dynamic changes of effective tire radius affect the estimation accuracy, as well. This paper presents a detailed analysis of the yaw rate estimation errors caused by braking forces, various sources of effective tire radius variations, and combined-slip tire dynamics. Compensation measures aimed to increase the estimation accuracy including a sensor fusion application are also discussed.
Yaw rate; kinematic estimation; accelerometers; wheel speed sensors; error analysis; sensor fusion
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Podaci o prilogu
1-12.
2009.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 21st International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2009) Stockholm, Švedska : International Association for Vehicle System Dynamics (IAVSD) , 2009.
Podaci o skupu
21st International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2009)
predavanje
17.08.2009-21.08.2009
Stockholm, Švedska