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GPS와 차량 내부 정보를 이용한 적응 차량위치 추정 알고리즘
양정근(Junggeon Yang),이재환(Jaehwan Lee),김창섭(Changseb Kim),허건수(Kunsoo Huh) 한국자동차공학회 2015 한국자동차공학회 부문종합 학술대회 Vol.2015 No.5
Recently, researches on autonomous driving vehicle ad advanced driver assistance system (ADAS) are very active and it is obvious that the knowledge of accurate vehicle position is extremely valuable for these researches. This paper presents a position estimation algorithm for vehicle based on the integration of Global Positioning System (GPS) and In-Vehicle sensors. The aim of this paper is to achieve more accurate position of the vehicle by eliminating the unexpected GPS signal error resulted from overpass and multipath. In order to eliminate the inaccurate GPS signal, the status of GPS link is considered and also additional filtering algorithm is designed. The performance of the proposed algorithm has been evaluated by the vehicle experiment.
이재환(Jaehwan Lee),양정근(Junggeon Yang),신경식(Kyungsik Shin),김창섭(Changseb Kim),김병주(Byungjoo Kim),이민수(Minsu Lee),성현(Hyun Sung),허건수(Kunsoo Huh) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
Recently, many researches on active roll control to improve ride and handling have been conducted. The active roll stabilizer(ARS) system is commonly used instead of passive stabilizer bars to obtain improved vehicle ride and handling. ARS system requires roll states(roll angle and roll rate) to determine control inputs. In this paper, the roll states estimation method is proposed by using Kalman filter and roll dynamics including vertical dynamics model. The vertical acceleration sensors are used to correct the estimated states. The proposed roll states estimation method will be verified by simulation with MATLAB/Simulink and CarSim software.