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Using MEMS Accelerometers to Improve Automobile Handwheel State Estimation for Force Feedback

[+] Author Affiliations
Joshua P. Switkes, Ian A. Coe, J. Christian Gerdes

Stanford University

Paper No. IMECE2004-62183, pp. 1271-1278; 8 pages
  • ASME 2004 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Anaheim, California, USA, November 13 – 19, 2004
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4706-3 | eISBN: 0-7918-4178-2, 0-7918-4179-0, 0-7918-4180-4
  • Copyright © 2004 by ASME


This paper explores the possibility of combining solid state accelerometers with a low resolution position sensor to provide clean estimates of automobile handwheel position, velocity and acceleration for use in force feedback. Typically determining the acceleration and velocity of the handwheel requires differentiating a position sensor such as an encoder or potentiometer. Unless expensive high-resolution sensors are used, this differentiation leads to a noisy signal, requiring significant filtering which leads to significant phase lag. With a direct measurement of acceleration, we circumvent many of the problems associated with differentiation and filtering. This work uses a Kalman filter to combine a pair of MEMS accelerometers with a low-resolution potentiometer to estimate handwheel states. This measurement scheme is effective in this application because of the low frequency nature of the force feedback and because of the structural robustness of the handwheel system. Initial in-vehicle experimental results show the setup can provide smooth acceleration and velocity signals in a moving vehicle.

Copyright © 2004 by ASME



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