Estimation of Vehicle Turning Radius Based on Federal Kalman Filter

Abstract

This paper presents a new method for identifying turning radius using a Federal Kalman Filter and a vehicle dynamic model. A dynamic model, which includes vehicle radius, is first introduced. The Federal Kalman Filter is then implemented using the measurements of GPS and INS sensors. From the Federal Kalman Filter, the vehicle turning radius can be precisely estimated. Experimental results verify that the estimation scheme is giving appropriate estimates of the vehicle turning radius.