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IMU-Based Automated Vehicle Slip Angle and Attitude Estimation Aided by Vehicle Dynamics.

IMU-Based Automated Vehicle Slip Angle and Attitude Estimation Aided by Vehicle Dynamics. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Sensors (Basel, Switzerland) Pubmed

IMU-Based Automated Vehicle Slip Angle and Attitude Estimation Aided by Vehicle Dynamics.

Sensors (Basel, Switzerland) , Volume 19 (8): 1 – Jun 10, 2019

IMU-Based Automated Vehicle Slip Angle and Attitude Estimation Aided by Vehicle Dynamics.

Abstract

The slip angle and attitude are vital for automated driving. In this paper, a systematic inertial measurement unit (IMU)-based vehicle slip angle and attitude estimation method aided by vehicle dynamics is proposed. This method can estimate the slip angle and attitude simultaneously and autonomously. With accurate attitude, the slip angle can be estimated precisely even though the vehicle dynamic model (VDM)-based velocity estimator diverges for a short time. First, the longitudinal velocity, pitch angle, lateral velocity, and roll angle were estimated by two estimators based on VDM considering the lever arm between the IMU and rotation center. When this information was in high fidelity, it was applied to aid the IMU-based slip angle and attitude estimators to eliminate the accumulated error correctly. Since there is a time delay in detecting the abnormal estimation results from VDM-based estimators during critical steering, a novel delay estimation and prediction structure was proposed to avoid the outlier feedback from vehicle dynamics estimators for the IMU-based slip angle and attitude estimators. Finally, the proposed estimation method was validated under large lateral excitation experimental tests including double lane change (DLC) and slalom maneuvers.

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ISSN
1424-8220
eISSN
1424-8220
DOI
10.3390/s19081930
pmid
31022929

Abstract

Journal

Sensors (Basel, Switzerland)Pubmed

Published: Jun 10, 2019

There are no references for this article.