People

• Jihan Ryu

Sponsors

Robert Bosch Corporation

Description

Vehicle sideslip is an important parameter for stability control systems. Sideslip is the angle between the velocity vector and the longitudinal axis of the vehicle. Normally this angle has to be estimated using vehicle models or direct integration of inertial navigation system (INS) sensors. The global positioning system (GPS) provides a unique alternative to estimating sideslip because it can give the vehicles absolute velocity (both magnitude and direction). Combining this measurement with those obtained from the INS sensors gives a high update estimate of vehicle sideslip.

PhD Dissertation

• "State and Parameter Estimation for Vehicle Dynamics Control Using GPS" December 2004 [pdf]

Results

• Vehicle Model

• Estimation Results

Publications

• Vehicle Sideslip and Roll Parameter Estimation Using GPS
  in the Proceedings of the 2002 AVEC Conference; Hiroshima, Japan

• Integrating Inertial Sensors with GPS for Vehicle Dynamics Control
  in the Journal of Dynamic Systems, Measurements, and Control; June 2004

People

• Jihan Ryu

Description

This work developed a new method for identifying road bank and vehicle roll separately using a disturbance observer and a vehicle dynamic model. It has been previously shown that vehicle states and parameters of a vehicle model can be precisely estimated using measurements from Global Positioning System (GPS) and Inertial Navigation System (INS) sensors. Based on these results, a dynamic model, which includes vehicle roll as a state and road bank as a disturbance, is first introduced. A disturbance observer is then implemented from the vehicle model using estimated vehicle states. Experimental results verify that the estimation scheme is giving appropriate estimates of the vehicle roll and road bank angles separately.

Publications

• Estimation of Vehicle Roll and Road Bank Angle
  in the Proceedings of the 2004 American Control Conference; Boston, MA