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Physical Model-Based Yaw Rate and Steering Wheel Angle Offset Compensation

  • Stefan Solyom
  • Johan Hultén
Conference paper
  • 1.2k Downloads
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 200)

Abstract

The article describes a model-based estimation method for offsets in the yaw rate measurement and the steering wheel angle measurement for a vehicle. The estimator is constructed as a hybrid system comprising of two linear estimators. The switching between the two local linear systems is based on the vehicle operating mode.

Keywords

Estimation Linear regression Bicycle model 

References

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    Zhenhai G (2003) Soft sensor application in vehicle yaw rate measurement based on Kalman filter and vehicle dynamics. Proc Intell Transp Syst 2:1352–1354Google Scholar
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    Gustafsson F et al (2001) Sensor fusion for accurate computation of yaw rate and absolute velocity, SAE technical paper. SAE, WarrendaleGoogle Scholar
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    Pacejka H (2006) Tyre and vehicle dynamics, vol Second edn. Elsevier, OxfordGoogle Scholar
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    Åström KJ, Wittenmark B (1997) Computer-controlled systems. Prentice Hall, Englewood CliffsGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Stefan Solyom
    • 1
  • Johan Hultén
    • 2
  1. 1.Active Safety and Vehicle DynamicsVolvo Car CorporationGothenburgSweden
  2. 2.Sentient+GothenburgSweden

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