Estimating road angles with the knowledge of the vehicle yaw angle / Ling-Yuan Hsu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 09 p. Titre : Estimating road angles with the knowledge of the vehicle yaw angle Type de document : texte imprimé Auteurs : Ling-Yuan Hsu, Auteur ; Tsung-Lin Chen, Auteur Année de publication : 2010 Article en page(s) : 09 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Acceleration measurement Displacement Observers Suspensions (mechanical components) Vehicle dynamics Velocity Index. décimale : 629.8 Résumé : This paper presents a method of estimating road angles using state observers and three types of sensors (lateral acceleration sensors, longitudinal velocity sensors, and suspension displacement sensors). The proposed method differs from those in most existing literature in three aspects. First, a “full-state” vehicle model is used to describe nonlinear vehicle dynamics on a sloped road. Second, “switching observer” techniques are used to suggest suitable sensors and to construct state observers. Lastly, the road angles are described by three Euler angles, and two of them are estimated simultaneously. The analysis indicates that (1) road angles affect vehicle dynamics through components of the gravitational force acting on the vehicle body. These gravitational forces can be correctly estimated with an estimation accuracy less than 7.5%, even when road angles vary with time. (2) Those road angles can be correctly estimated only when the vehicle yaw angle is known. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Estimating road angles with the knowledge of the vehicle yaw angle [texte imprimé] / Ling-Yuan Hsu, Auteur ; Tsung-Lin Chen, Auteur . - 2010 . - 09 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 09 p. Mots-clés : Acceleration measurement Displacement Observers Suspensions (mechanical components) Vehicle dynamics Velocity Index. décimale : 629.8 Résumé : This paper presents a method of estimating road angles using state observers and three types of sensors (lateral acceleration sensors, longitudinal velocity sensors, and suspension displacement sensors). The proposed method differs from those in most existing literature in three aspects. First, a “full-state” vehicle model is used to describe nonlinear vehicle dynamics on a sloped road. Second, “switching observer” techniques are used to suggest suitable sensors and to construct state observers. Lastly, the road angles are described by three Euler angles, and two of them are estimated simultaneously. The analysis indicates that (1) road angles affect vehicle dynamics through components of the gravitational force acting on the vehicle body. These gravitational forces can be correctly estimated with an estimation accuracy less than 7.5%, even when road angles vary with time. (2) Those road angles can be correctly estimated only when the vehicle yaw angle is known. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

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