Vehicle velocity estimation based on WSS/IMU with wheel slip recognition
Accurate velocity is of great significance to vehicle dynamic control, and vehicle velocity estimation based on wheel speed sensor (WSS) and inertial measurement unit (IMU) is more cost-effective than other sensors. Unavoidable wheel slip will result in velocity vector estimation error. To solve thi...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/171826 |
| _version_ | 1826121861357895680 |
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| author | Yuan, Liangxin Chen, Hao Wang, Yuan Lian, Xiaomin |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Yuan, Liangxin Chen, Hao Wang, Yuan Lian, Xiaomin |
| author_sort | Yuan, Liangxin |
| collection | NTU |
| description | Accurate velocity is of great significance to vehicle dynamic control, and vehicle velocity estimation based on wheel speed sensor (WSS) and inertial measurement unit (IMU) is more cost-effective than other sensors. Unavoidable wheel slip will result in velocity vector estimation error. To solve this problem, this paper proposed a novel wheel slip recognition criterion when using WSS/IMU for velocity estimation. The basic idea is to deduce the strict relationship between wheel speed, angular rate, and specific force when the wheel does not slip, and the slipping wheel will destroy this balance, which can be used to determine whether the wheel is slipping. Wheels identified as slipping are isolated from fusion, and only non-slipping wheels can be used for velocity estimation. In addition, the analysis shows that the wheel slip recognition is robust and works well even if there is an estimation error in the lateral velocity during vehicle turning. The co-simulation based on Carsim-Simulink shows that the proposed wheel slip recognition can ensure accurate vehicle velocity estimation at various working conditions. The real vehicle test further verified the important role of wheel slip recognition for velocity estimation. |
| first_indexed | 2024-10-01T05:39:25Z |
| format | Journal Article |
| id | ntu-10356/171826 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:39:25Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1718262023-11-09T03:12:56Z Vehicle velocity estimation based on WSS/IMU with wheel slip recognition Yuan, Liangxin Chen, Hao Wang, Yuan Lian, Xiaomin School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Velocity Estimation Vehicle Dynamic Control Accurate velocity is of great significance to vehicle dynamic control, and vehicle velocity estimation based on wheel speed sensor (WSS) and inertial measurement unit (IMU) is more cost-effective than other sensors. Unavoidable wheel slip will result in velocity vector estimation error. To solve this problem, this paper proposed a novel wheel slip recognition criterion when using WSS/IMU for velocity estimation. The basic idea is to deduce the strict relationship between wheel speed, angular rate, and specific force when the wheel does not slip, and the slipping wheel will destroy this balance, which can be used to determine whether the wheel is slipping. Wheels identified as slipping are isolated from fusion, and only non-slipping wheels can be used for velocity estimation. In addition, the analysis shows that the wheel slip recognition is robust and works well even if there is an estimation error in the lateral velocity during vehicle turning. The co-simulation based on Carsim-Simulink shows that the proposed wheel slip recognition can ensure accurate vehicle velocity estimation at various working conditions. The real vehicle test further verified the important role of wheel slip recognition for velocity estimation. This work was supported by the Suzhou-Tsinghua innovation project under Grant 2016SZ0207. 2023-11-09T03:12:55Z 2023-11-09T03:12:55Z 2023 Journal Article Yuan, L., Chen, H., Wang, Y. & Lian, X. (2023). Vehicle velocity estimation based on WSS/IMU with wheel slip recognition. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. https://dx.doi.org/10.1177/09544070231181163 0954-4070 https://hdl.handle.net/10356/171826 10.1177/09544070231181163 2-s2.0-85164180346 en Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering © 2023 IMechE. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Velocity Estimation Vehicle Dynamic Control Yuan, Liangxin Chen, Hao Wang, Yuan Lian, Xiaomin Vehicle velocity estimation based on WSS/IMU with wheel slip recognition |
| title | Vehicle velocity estimation based on WSS/IMU with wheel slip recognition |
| title_full | Vehicle velocity estimation based on WSS/IMU with wheel slip recognition |
| title_fullStr | Vehicle velocity estimation based on WSS/IMU with wheel slip recognition |
| title_full_unstemmed | Vehicle velocity estimation based on WSS/IMU with wheel slip recognition |
| title_short | Vehicle velocity estimation based on WSS/IMU with wheel slip recognition |
| title_sort | vehicle velocity estimation based on wss imu with wheel slip recognition |
| topic | Engineering::Mechanical engineering Velocity Estimation Vehicle Dynamic Control |
| url | https://hdl.handle.net/10356/171826 |
| work_keys_str_mv | AT yuanliangxin vehiclevelocityestimationbasedonwssimuwithwheelsliprecognition AT chenhao vehiclevelocityestimationbasedonwssimuwithwheelsliprecognition AT wangyuan vehiclevelocityestimationbasedonwssimuwithwheelsliprecognition AT lianxiaomin vehiclevelocityestimationbasedonwssimuwithwheelsliprecognition |