Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS

Yongkang Zhou, Weijun Liu, Harutoshi Ogai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The accurate measurements of yaw angle and sideslip angle are essential for autonomous EV dynamics control. A novel lateral stability control method using on-board GPS receiver is proposed. With proposed Kalman filter, GPS measurement delay is revised and yaw angle and sideslip angle could be estimated efficiently. On the other hand, we choose model predictive control(MPC) as an advanced control method to deal with the constrained optimal tracking problem in autonomous driving. At last, simulation and experiment results verify the effectiveness of proposed control system.

Original languageEnglish
Title of host publicationProceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017
PublisherNewswood Limited
Pages197-201
Number of pages5
Volume2227
ISBN (Electronic)9789881404732
Publication statusPublished - 2017 Jan 1
Event2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017 - Hong Kong, Hong Kong
Duration: 2017 Mar 152017 Mar 17

Other

Other2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017
CountryHong Kong
CityHong Kong
Period17/3/1517/3/17

Fingerprint

Kalman filters
Global positioning system
Model predictive control
Control systems
Experiments

Keywords

  • Autonomous driving
  • Lateral stability control
  • MPC

ASJC Scopus subject areas

  • Computer Science (miscellaneous)

Cite this

Zhou, Y., Liu, W., & Ogai, H. (2017). Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS. In Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017 (Vol. 2227, pp. 197-201). Newswood Limited.

Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS. / Zhou, Yongkang; Liu, Weijun; Ogai, Harutoshi.

Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017. Vol. 2227 Newswood Limited, 2017. p. 197-201.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhou, Y, Liu, W & Ogai, H 2017, Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS. in Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017. vol. 2227, Newswood Limited, pp. 197-201, 2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017, Hong Kong, Hong Kong, 17/3/15.
Zhou Y, Liu W, Ogai H. Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS. In Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017. Vol. 2227. Newswood Limited. 2017. p. 197-201
Zhou, Yongkang ; Liu, Weijun ; Ogai, Harutoshi. / Control of Yaw Angle and Sideslip Angle Based on Kalman Filter Estimation for Autonomous EV from GPS. Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017. Vol. 2227 Newswood Limited, 2017. pp. 197-201
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