GPS를 이용한 차량의 Sideslip Angle 추정

This paper proposes a new method to estimate vehicle state such as sideslip angle and lateral velocity integrating Global Positioning System(GPS) and Inertial Measurement Unit(IMU). The method Integrating GPS and IMU provides more precise and high rate speed information that is necessary to get sideslip angle and lateral velocity. To integrate the GPS and IMU, Kalman filter is used. The experimental results for the GPS velocity-based sideslip angle measurement and lateral velocity estimates are compared with the theoretical predictions. Using these vehicle state, vehicle control system can be improved such as braking control, stability control and lateral control system