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

Yongkang Zhou; Weijun Liu; Harutoshi Ogai

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

Yongkang Zhou, Weijun Liu, Harutoshi Ogai

Graduate School of Information, Production and Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017
Publisher	Newswood Limited
Pages	197-201
Number of pages	5
Volume	2227
ISBN (Electronic)	9789881404732
Publication status	Published - 2017 Jan 1
Event	2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017 - Hong Kong, Hong Kong Duration: 2017 Mar 15 → 2017 Mar 17

Other

Other	2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017
Country/Territory	Hong Kong
City	Hong Kong
Period	17/3/15 → 17/3/17

Keywords

Autonomous driving
Lateral stability control
MPC

ASJC Scopus subject areas

Computer Science (miscellaneous)

Cite this

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 proceeding › Conference 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.

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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.",

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AB - 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.

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ER -

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

Abstract

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Keywords

ASJC Scopus subject areas

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