Department News
State and Parameter Estimation Using GPS for Vehicle Dynamics Control
Seminar Date
2006-01-04
Author
임아주
Date
2005-12-28
Views
2003
1. 제 목 : State and Parameter Estimation Using GPS for Vehicle Dynamics Control
2. 연 사 : Jihan Ryu
3. 일 시 : 2006년 1월 4일 수요일 오후 3시~
4. 장 소 : 신공학관 301동 1512호
5. 내 용 :
Many types of vehicle control systems can conceivably be developed to help drivers maintain stability, avoid roll-over, and customize handling characteristics. A lack of state and arameter information, however, presents a major obstacle. This talk presents state and parameter stimation methods for vehicle dynamics control using the Global Positioning System (GPS). Several key vehicle states - sideslip angle, longitudinal velocity, roll and pitch - can be estimated by combining automotive grade inertial sensors with a GPS receiver. Kinematic Kalman filters that are independent of uncertain vehicle parameters combine the inertial sensors with GPS to provide high update estimates of the vehicle states and the sensor biases. With a two-antenna GPS system, the effects of pitch and roll can be compensated to improve the accuracy of the vehicle state and sensor bias estimates. The state estimates match calibrated models and statistical predictions. Furthermore, the stimated vehicle states are accurate and clean enough to be used in a full state feedback controller.
The talk then examines parameter estimation for vehicle dynamic models. Several important vehicle parameters, such as tire cornering stiffness and roll stiffness, can be estimated using the estimated vehicle states. Experimental results show that the parameter estimates from proposed methods converge to the known values. Finally, the talk presents a new method for identifying road bank and vehicle roll separately using a disturbance observer and a vehicle dynamic model. Experimental results verify that the estimation scheme is giving separate estimates of the vehicle roll and road bank angles. The results of this work can improve the performance of stability control systems and enable a number of future systems.
6. 연사약력 :
2004 ~ Present : Senior Research Engineer, General Motors
2004 : Ph.D. in Mechanical Engineering at Stanford University
2000 : M.S. in Mechanical Engineering at Stanford University
1997 : B.S. in Naval Architecture and Ocean Engineering at Seoul National University
7. 문 의 : 기계항공공학부 차 석 원 교수 (☏ 880-1700)
2. 연 사 : Jihan Ryu
3. 일 시 : 2006년 1월 4일 수요일 오후 3시~
4. 장 소 : 신공학관 301동 1512호
5. 내 용 :
Many types of vehicle control systems can conceivably be developed to help drivers maintain stability, avoid roll-over, and customize handling characteristics. A lack of state and arameter information, however, presents a major obstacle. This talk presents state and parameter stimation methods for vehicle dynamics control using the Global Positioning System (GPS). Several key vehicle states - sideslip angle, longitudinal velocity, roll and pitch - can be estimated by combining automotive grade inertial sensors with a GPS receiver. Kinematic Kalman filters that are independent of uncertain vehicle parameters combine the inertial sensors with GPS to provide high update estimates of the vehicle states and the sensor biases. With a two-antenna GPS system, the effects of pitch and roll can be compensated to improve the accuracy of the vehicle state and sensor bias estimates. The state estimates match calibrated models and statistical predictions. Furthermore, the stimated vehicle states are accurate and clean enough to be used in a full state feedback controller.
The talk then examines parameter estimation for vehicle dynamic models. Several important vehicle parameters, such as tire cornering stiffness and roll stiffness, can be estimated using the estimated vehicle states. Experimental results show that the parameter estimates from proposed methods converge to the known values. Finally, the talk presents a new method for identifying road bank and vehicle roll separately using a disturbance observer and a vehicle dynamic model. Experimental results verify that the estimation scheme is giving separate estimates of the vehicle roll and road bank angles. The results of this work can improve the performance of stability control systems and enable a number of future systems.
6. 연사약력 :
2004 ~ Present : Senior Research Engineer, General Motors
2004 : Ph.D. in Mechanical Engineering at Stanford University
2000 : M.S. in Mechanical Engineering at Stanford University
1997 : B.S. in Naval Architecture and Ocean Engineering at Seoul National University
7. 문 의 : 기계항공공학부 차 석 원 교수 (☏ 880-1700)
