UKF Estimation Method of Centroid Slip Angle for Vehicle Stability Control
Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object including low estimation accuracy and poor real-time performance of the current centroid sideslip angle, the four-wheel motor driven electri...
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| Published in | International journal of control, automation, and systems Vol. 21; no. 7; pp. 2259 - 2266 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.07.2023
Springer Nature B.V 제어·로봇·시스템학회 |
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| Abstract | Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object including low estimation accuracy and poor real-time performance of the current centroid sideslip angle, the four-wheel motor driven electric vehicle. The estimation problem of the sideslip angle is studied in-depth when the vehicle is in a nonlinear state. In addition, an Unscented Kalman Filter (UKF) estimation method is proposed to reduce observation error and improve the practicability of the estimation system. First of all, the research starts with building a 7-degree-of-freedom vehicle model which is based on the Dugoff tire model. Then, after measuring the state parameters, the UKF algorithm is used to estimate the sideslip angle. By comparing with the Extended Kalman Filter (EKF) algorithm, it is confirmed that the estimation method can not only better estimate the center of sideslip angle in real time, but also greater improve the handling stability of the vehicle in the driving state. Besides, the effectiveness of the algorithm is further verified by the real vehicle road test. |
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| AbstractList | Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object including low estimation accuracy and poor real-time performance of the current centroid sideslip angle, the four-wheel motor driven electric vehicle. The estimation problem of the sideslip angle is studied in-depth when the vehicle is in a nonlinear state. In addition, an Unscented Kalman Filter (UKF) estimation method is proposed to reduce observation error and improve the practicability of the estimation system. First of all, the research starts with building a 7-degree-of-freedom vehicle model which is based on the Dugoff tire model. Then, after measuring the state parameters, the UKF algorithm is used to estimate the sideslip angle. By comparing with the Extended Kalman Filter (EKF) algorithm, it is confirmed that the estimation method can not only better estimate the center of sideslip angle in real time, but also greater improve the handling stability of the vehicle in the driving state. Besides, the effectiveness of the algorithm is further verified by the real vehicle road test. Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object including low estimation accuracy and poor real-time performance of the current centroid sideslip angle, the four-wheel motor driven electric vehicle. The estimation problem of the sideslip angle is studied in-depth when the vehicle is in a nonlinear state. In addition, an Unscented Kalman Filter (UKF) estimation method is proposed to reduce observation error and improve the practicability of the estimation system. First of all, the research starts with building a 7-degree-of-freedom vehicle model which is based on the Dugoff tire model. Then, after measuring the state parameters, the UKF algorithm is used to estimate the sideslip angle. By comparing with the Extended Kalman Filter (EKF) algorithm, it is confirmed that the estimation method can not only better estimate the center of sideslip angle in real time, but also greater improve the handling stability of the vehicle in the driving state. Besides, the effectiveness of the algorithm is further verified by the real vehicle road test. KCI Citation Count: 2 |
| Author | Chen, Xinbo He, Shuwen Wang, Pan Fan, Xiaobin Yi, Juean |
| Author_xml | – sequence: 1 givenname: Pan orcidid: 0000-0002-7289-1354 surname: Wang fullname: Wang, Pan email: 1728772775@qq.com organization: School of Mechanical and Power Engineering, Henan Polytechnic University – sequence: 2 givenname: Xiaobin orcidid: 0000-0002-7187-8377 surname: Fan fullname: Fan, Xiaobin email: fanxiaobin@hpu.edu.cn organization: School of Mechanical and Power Engineering, Henan Polytechnic University – sequence: 3 givenname: Xinbo surname: Chen fullname: Chen, Xinbo organization: China North Vehicle Research Institute – sequence: 4 givenname: Juean surname: Yi fullname: Yi, Juean organization: School of Foreign Studies, Henan Polytechnic University – sequence: 5 givenname: Shuwen surname: He fullname: He, Shuwen organization: School of Mechanical and Power Engineering, Henan Polytechnic University |
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| Keywords | state estimation in-wheel motor driven electric vehicle Extended Kalman filter unscented Kalman filter sideslip angle |
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| References | M. K. Aripin, Y. M. Sam, K. A. Danapalasingam, K. Peng, N. Hamzah, and M. F. Ismail, “A review of active yaw control system for vehicle handling and stability enhancement,” International Journal of Vehicular Technology, pp. 1–15, 2014. ZhangHZhangXBuRSliding mode adaptive control for ship path following with sideslip angle observerOcean Engineering202225111110610.1016/j.oceaneng.2022.111106 A. J. Hu and C. Z. Wang, “Automobile active safety technology,” Machinery Design & Manufacture, no. 7, pp. 97–99, 2010. WangFInGShenTRenYWnagYFengBNonlinear robust fusion estimation of sideslip angle and tire lateral forces for four-wheel-drive vehiclesChina Mechanical Engineering2022332226732683 YixiZResearch on Key State and Parameter Estimation of Handling Stability and Coordinated Control Strategy for Four-Wheel Independent Drive Electric Vehicle2021Xi’anChang’an University ShijuPHuaLJianshiLEstimation of side-slip angle of vehicle centroid based on unscented Kalman filterJournal of Military Transportation University20202224045 GuoHChenHZhaoHYangSState and parameter estimation for running vehicle: Recent developments and perspectiveControl Theory and Applications2013306661672 YuanyuanWThe Optimization of Braking Force Distribution Control Strategy for ESP System2011ChangchunJilin University WangHXuSZhouDWangXLiuXVehicle mass-centroid sideslip angle estimation based on extension fusion of fuzzy sliding-mode observer and sensor signal integralTransactions of Beijing Institute of Technology2022427713722 BoadaB LBoadaM J LDíazVVehicle sideslip angle measurement based on sensor data fusion using an integrated ANFIS and an unscented Kalman filter algorithmMechanical Systems and Signal Processing201672–7383284510.1016/j.ymssp.2015.11.003 Z. Tianjun and Z. Hongyan, “Application of unscented Kalman filter to vehicle state estimation,” Proc. of ISECS International Colloquium on Computing, Communication, Control, and Management, 2008. FengWXiaobinFYemingZFuzzy identification based on tire/road adhesion featureComputer Aided Drafting Design & Manufacturing (CADDM)20152516267 ParkGVehicle sideslip angle estimation based on interacting multiple model Kalman filter using low-cost sensor fusionIEEE Transactions on Vehicular Technology20227166088609910.1109/TVT.2022.3161460 YixiaoLLingZPath tracking control of intelligent vehicle based on minimal model error estimationAutomotive Engineering2021434580587 A. V. Zanten, “Bosch ESP Systems: 5 Years of Experience,” SAE Paper, Technical Paper 2000-01-1633, 2000. XiangyuLStudy of Vehicle Stablity Based on Direct Yaw Moment Control2010HefeiHefei University of Technology BoadaB LBoadaM J LGauchíaAOlmedaEDíazVSideslip angle estimator based on ANFIS for vehicle handling and stabilityJournal of Mechanical Science and Technology20152941473148110.1007/s12206-015-0320-x ZhishengYElementary Vehicle Dynamics2008BeijingMechanical Engineering Press B L Boada (306_CR5) 2015; 29 H Guo (306_CR2) 2013; 30 Z Yixi (306_CR18) 2021 P Shiju (306_CR17) 2020; 22 W Feng (306_CR13) 2015; 25 B L Boada (306_CR6) 2016; 72–73 H Zhang (306_CR9) 2022; 251 H Wang (306_CR7) 2022; 42 G Park (306_CR8) 2022; 71 306_CR4 L Yixiao (306_CR15) 2021; 43 306_CR3 306_CR1 L Xiangyu (306_CR12) 2010 F Wang (306_CR10) 2022; 33 Y Zhisheng (306_CR11) 2008 306_CR16 W Yuanyuan (306_CR14) 2011 |
| References_xml | – reference: M. K. Aripin, Y. M. Sam, K. A. Danapalasingam, K. Peng, N. Hamzah, and M. F. Ismail, “A review of active yaw control system for vehicle handling and stability enhancement,” International Journal of Vehicular Technology, pp. 1–15, 2014. – reference: ZhangHZhangXBuRSliding mode adaptive control for ship path following with sideslip angle observerOcean Engineering202225111110610.1016/j.oceaneng.2022.111106 – reference: ShijuPHuaLJianshiLEstimation of side-slip angle of vehicle centroid based on unscented Kalman filterJournal of Military Transportation University20202224045 – reference: Z. Tianjun and Z. Hongyan, “Application of unscented Kalman filter to vehicle state estimation,” Proc. of ISECS International Colloquium on Computing, Communication, Control, and Management, 2008. – reference: A. V. Zanten, “Bosch ESP Systems: 5 Years of Experience,” SAE Paper, Technical Paper 2000-01-1633, 2000. – reference: ParkGVehicle sideslip angle estimation based on interacting multiple model Kalman filter using low-cost sensor fusionIEEE Transactions on Vehicular Technology20227166088609910.1109/TVT.2022.3161460 – reference: WangFInGShenTRenYWnagYFengBNonlinear robust fusion estimation of sideslip angle and tire lateral forces for four-wheel-drive vehiclesChina Mechanical Engineering2022332226732683 – reference: FengWXiaobinFYemingZFuzzy identification based on tire/road adhesion featureComputer Aided Drafting Design & Manufacturing (CADDM)20152516267 – reference: ZhishengYElementary Vehicle Dynamics2008BeijingMechanical Engineering Press – reference: YixiaoLLingZPath tracking control of intelligent vehicle based on minimal model error estimationAutomotive Engineering2021434580587 – reference: WangHXuSZhouDWangXLiuXVehicle mass-centroid sideslip angle estimation based on extension fusion of fuzzy sliding-mode observer and sensor signal integralTransactions of Beijing Institute of Technology2022427713722 – reference: A. J. Hu and C. Z. Wang, “Automobile active safety technology,” Machinery Design & Manufacture, no. 7, pp. 97–99, 2010. – reference: BoadaB LBoadaM J LDíazVVehicle sideslip angle measurement based on sensor data fusion using an integrated ANFIS and an unscented Kalman filter algorithmMechanical Systems and Signal Processing201672–7383284510.1016/j.ymssp.2015.11.003 – reference: GuoHChenHZhaoHYangSState and parameter estimation for running vehicle: Recent developments and perspectiveControl Theory and Applications2013306661672 – reference: YixiZResearch on Key State and Parameter Estimation of Handling Stability and Coordinated Control Strategy for Four-Wheel Independent Drive Electric Vehicle2021Xi’anChang’an University – reference: XiangyuLStudy of Vehicle Stablity Based on Direct Yaw Moment Control2010HefeiHefei University of Technology – reference: YuanyuanWThe Optimization of Braking Force Distribution Control Strategy for ESP System2011ChangchunJilin University – reference: BoadaB LBoadaM J LGauchíaAOlmedaEDíazVSideslip angle estimator based on ANFIS for vehicle handling and stabilityJournal of Mechanical Science and Technology20152941473148110.1007/s12206-015-0320-x – volume-title: Elementary Vehicle Dynamics year: 2008 ident: 306_CR11 – volume-title: Study of Vehicle Stablity Based on Direct Yaw Moment Control year: 2010 ident: 306_CR12 – ident: 306_CR1 – volume: 71 start-page: 6088 issue: 6 year: 2022 ident: 306_CR8 publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2022.3161460 – volume: 29 start-page: 1473 issue: 4 year: 2015 ident: 306_CR5 publication-title: Journal of Mechanical Science and Technology doi: 10.1007/s12206-015-0320-x – volume-title: The Optimization of Braking Force Distribution Control Strategy for ESP System year: 2011 ident: 306_CR14 – ident: 306_CR4 doi: 10.1155/2014/437515 – volume: 22 start-page: 40 issue: 2 year: 2020 ident: 306_CR17 publication-title: Journal of Military Transportation University – ident: 306_CR16 – volume: 42 start-page: 713 issue: 7 year: 2022 ident: 306_CR7 publication-title: Transactions of Beijing Institute of Technology – volume: 33 start-page: 2673 issue: 22 year: 2022 ident: 306_CR10 publication-title: China Mechanical Engineering – volume: 43 start-page: 580 issue: 4 year: 2021 ident: 306_CR15 publication-title: Automotive Engineering – volume-title: Research on Key State and Parameter Estimation of Handling Stability and Coordinated Control Strategy for Four-Wheel Independent Drive Electric Vehicle year: 2021 ident: 306_CR18 – volume: 72–73 start-page: 832 year: 2016 ident: 306_CR6 publication-title: Mechanical Systems and Signal Processing doi: 10.1016/j.ymssp.2015.11.003 – volume: 251 start-page: 111106 year: 2022 ident: 306_CR9 publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2022.111106 – volume: 25 start-page: 62 issue: 1 year: 2015 ident: 306_CR13 publication-title: Computer Aided Drafting Design & Manufacturing (CADDM) – volume: 30 start-page: 661 issue: 6 year: 2013 ident: 306_CR2 publication-title: Control Theory and Applications – ident: 306_CR3 doi: 10.4271/2000-01-1633 |
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| Snippet | Vehicle center of sideslip angle is an essential parameter in vehicle stability control system. In view of the current problems is taken as the research object... |
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| SubjectTerms | Algorithms Centroids Control Control stability Electric vehicles Engineering Error reduction Extended Kalman filter Mathematical models Mechatronics Parameters Real time Regular Papers Road tests Robotics Sideslip 제어계측공학 |
| Title | UKF Estimation Method of Centroid Slip Angle for Vehicle Stability Control |
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