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State Estimation for Vehicle Stability Control: A Kinematic Approach Using Only GPS and VSC Sensors

[+] Author Affiliations
Jonathan Ryan, David Bevly

Auburn University, Auburn, AL

Jianbo Lu

Ford Motor Company, Dearborn, MI

Paper No. DSCC2010-4162, pp. 773-780; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


It is well known that the vehicle sideslip and roll angles are very important for vehicle stability control systems. There has been much work focusing on estimating these states, however much of this work assumes knowledge of vehicle parameters or requires sensors which are currently not available on passenger vehicles for cost reasons. This paper presents a method of applying GPS/INS integration strategies to this particular estimation problem. Using a single antenna GPS receiver with a reduced set of INS sensors common to vehicle stability control systems, estimates of the roll and sideslip angles which are robust to different road geometries and changing vehicle parameters can be achieved. While the future may afford the luxury of using more sensors of higher quality, this work offers results which are applicable in today’s market and which would also serve as a means of redundancy in the future.

Copyright © 2010 by ASME



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