Vehicle dynamics control based on low cost GPS

the paper presents a method for using low cost GPS speed measurements to improve vehicle dynamics control. GPS can be used to calculate the sideslip angle of a vehicle directly. This measurement is combined with inertial sensor measurements to provide information for the motion control of the vehicle. This paper presents the technical principle of the vehicle dynamics control, the validation through test results and the evaluation of potential benefits of such an INS/GPS setup. As a result of the extended measuring capabilities a more effective vehicle dynamics control becomes possible. The results show an excellent performance that should be exploited in future automotive applications.

[1]  Eric J. Rossetter,et al.  Vehicle Sideslip and Roll Parameter Estimation using GPS , 2002 .

[2]  Hiroyuki Yamaguchi,et al.  Development of Vehicle Stability Control System Based on Vehicle Sideslip Angle Estimation , 2001 .

[3]  David M. Bevly,et al.  Global Positioning System (GPS): A Low-Cost Velocity Sensor for Correcting Inertial Sensor Errors on Ground Vehicles , 2004 .

[4]  David M. Bevly,et al.  The use of GPS based velocity measurements for improved vehicle state estimation , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[5]  William Travis,et al.  Navigation Errors Introduced By Ground Vehicle Dynamics , 2005 .

[6]  J. Christian Gerdes,et al.  Integrating Inertial Sensors With Global Positioning System (GPS) for Vehicle Dynamics Control , 2004 .

[7]  David M. Bevly,et al.  The use of GPS for vehicle stability control systems , 2004, IEEE Transactions on Industrial Electronics.

[8]  J. Christian Gerdes,et al.  Integrating Inertial Sensors with GPS for Vehicle Dynamics Control , 2004 .

[9]  Laura Ryan Ray,et al.  Nonlinear state and tire force estimation for advanced vehicle control , 1995, IEEE Trans. Control. Syst. Technol..

[10]  J. Christian Gerdes,et al.  The Use of GPS Based Velocity Measurements for Measurement of Sideslip and Wheel Slip , 2002 .

[11]  Man Hyung Lee,et al.  Estimation of errors in INS with multiple GPS antennas , 2001, IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243).

[12]  David M. Bevly,et al.  Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).