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

大学院情報生産システム研究科

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017
出版社	Newswood Limited
ページ	197-201
ページ数	5
巻	2227
ISBN（電子版）	9789881404732
出版ステータス	Published - 2017 1 1
イベント	2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017 - Hong Kong, Hong Kong 継続期間: 2017 3 15 → 2017 3 17

Other

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

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引用スタイル

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

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.",

keywords = "Autonomous driving, Lateral stability control, MPC",

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booktitle = "Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017",

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AU - Ogai, Harutoshi

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N2 - 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.

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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KW - MPC

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BT - Proceedings of the International MultiConference of Engineers and Computer Scientists 2017, IMECS 2017

PB - Newswood Limited

T2 - 2017 International MultiConference of Engineers and Computer Scientists, IMECS 2017

Y2 - 15 March 2017 through 17 March 2017

ER -

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

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