Adaptive Estimator for Vehicle Roll and Road Bank Angles Using Inertial Sensors

Xiao Yang, Jianzhong Zhu, Zhengyu Pan, Boyuan Li, Rongrong Wang
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引用次数: 2

Abstract

This paper presents an adaptive approach to simultaneously estimate the angles of vehicle roll and road bank with off-the-shelf vehicle inertial sensors. Measured signals are firstly processed through a kinematic model based adaptive complementary filter, and then fused in a dynamic model based Kalman filter. Adaptive law is designed to suppress the undesired effect caused by transient motion and integral drift. Suspension displacement sensors were installed to accurately measure the reference value of vehicle-body roll angle, and on-vehicle experiments on uneven ground were conducted to evaluate the performance of the proposed method. The effectiveness of the estimator was approved by comparing the estimating results and the reference.
基于惯性传感器的车辆侧倾角和道路倾斜角自适应估计
本文提出了一种利用现有车辆惯性传感器同时估计车辆侧倾角和道路倾斜角的自适应方法。测量信号首先通过基于运动学模型的自适应互补滤波器进行处理,然后融合到基于动态模型的卡尔曼滤波器中。设计了自适应律来抑制瞬态运动和积分漂移带来的不良影响。通过安装悬架位移传感器,精确测量车身侧倾角参考值,并在不平路面上进行了车辆试验,对所提方法的性能进行了评价。通过与文献的比较,验证了该估计方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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