A fuzzy sensor fusion sideslip angle estimation algorithm combining inertial measurements with GPS data

Michele Vignati, Edoardo Sabbioni*, Tommaso Chemello, Cornelia Lex

*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandBegutachtung

Abstract

The implementation of vehicle safety control systems in modern cars requires accurate vehicle dynamic state estimation. The estimation of the vehicle sideslip angle is essential to improve the performance of current and future Electronic Stability Control (ESC) systems. An innovative approach to estimate the sideslip angle directly from GPS measurements is developed. Given an existent kinematic sideslip estimator, with solved numerical integration issues during straight line driving, a GPS drift-free sideslip estimate improves such kinematic sideslip angle estimate during steady-state cornering conditions. As both methods do not require any tire-road friction nor other vehicle parameters, the two estimators are fused together using a Fuzzy Logic approach. Both require only basic sensors: wheel speeds, Inertial Measurement Unit (IMU) measurements, steering angle, and GPS module. Extensive experimental validation is used to assess the quality of the developed estimators and their robustness to a wide range of driving scenarios.
Originalspracheenglisch
TitelAdvances in Dynamics of Vehicles on Roads and Tracks II - Proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2021
UntertitelProceedings of the 27th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2021, August 17–19, 2021, Saint Petersburg, Russia
Redakteure/-innenAnna Orlova, David Cole
ErscheinungsortCham, Switzerland
Herausgeber (Verlag)Springer Nature Switzerland AG
Seiten1193–1206
Seitenumfang14
ISBN (elektronisch)978-3-031-07305-2
ISBN (Print)978-3-031-07304-5
DOIs
PublikationsstatusVeröffentlicht - 2022
Veranstaltung27th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks: IAVSD 2021 - virtuell, St. Petersburg, Russland
Dauer: 17 Aug. 202119 Aug. 2021
https://iavsd2021.ru

Publikationsreihe

NameLecture Notes in Mechanical Engineering
Herausgeber (Verlag)Springer Nature Switzerland AG
ISSN (Print)2195-4356
ISSN (elektronisch)2195-4364

Konferenz

Konferenz27th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
KurztitelIAVSD 2021
Land/GebietRussland
OrtSt. Petersburg
Zeitraum17/08/2119/08/21
Internetadresse

Schlagwörter

  • Tyre mechanics
  • Semi-physical tyre modelling
  • Influence of tyre rotation
  • Experimental validation
  • Tyre testing
  • Flat track test rig
  • Vehicle handling dynamics

ASJC Scopus subject areas

  • Fahrzeugbau
  • Modellierung und Simulation
  • Maschinenbau
  • Luft- und Raumfahrttechnik
  • Fließ- und Transferprozesse von Flüssigkeiten

Fields of Expertise

  • Mobility & Production

Treatment code (Nähere Zuordnung)

  • Basic - Fundamental (Grundlagenforschung)
  • Experimental

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