차량거동 추정을 위한 관성센서의 위치에 따른 ESC 성능변화에 관한 연구

In this paper, a effect of IMU(Inertia Measurement Unit) sensor position variation is studied to evaluate stability control performance. The stability control adds the ability to assist the driver in negotiating understeer and oversteer by using IMU sensor, and by adding corrective braking and engine torque to the vehicle as appropriate. The stability control is related to the sensor accuracy to provide driver and vehicle dynamic information to the system’s electronic control unit. The sensor position is affected measuring and estimating vehicle dynamic characteristics regarding stability control. Due to kinematic constraints of IMU sensor, the measured signal presents distorted vehicle response. In this paper, the 2-DOF vehicle model is representing to estimate the vehicle characteristics, and the yaw moment controller is implemented using simplified 2-DOF Vehicle model. The stability control is proposed to identify response of vehicle with various sensor offset. The simulation result shows the response of vehicle with proposed the yaw moment controller and studied the vehicle stability regarding sensor position effect. As conclusion, the stability control with 2-DOF model is evaluated through evasive double land change maneuver.