MATEC Web Conf.
Volume 70, 20162016 The 3rd International Conference on Manufacturing and Industrial Technologies
|Number of page(s)||4|
|Published online||11 August 2016|
Performance Analysis of EKF and UKF for Estimating Tire Longitudinal and Side Angle Slip
1 Yonsei University, Department of Electrical and Electronic Engineering, Seoul, Korea
2 LIG Nex1 Co., Ltd, 333, Pangyo-ro, Bundang-gu, Seongnam-City, Korea
Accurate tire slip estimation might be regarded as a small portion of the vehicle safety but is important criterion. Furthermore, as an autonomous vehicle system gets sophisticated, this type of technique will be more necessary. In this paper performance analysis for slip estimation in various situations is presented with several commonly known filter- extended Kalman filter (EKF) and unscented Kalman filter (UKF). Tire slip behaves differently depending on the surface type, the motion of the robot, and other environmental factors. Therefore, different kinds of situations and conditions are considered to estimate more accurate tire slip. Also as far as the tire slip is not based on actual data, it will be assumed to imitate the real tire slip behavior based on other study data. Finally, the performances of two filtering algorithms are compared to find more adequate algorithm with respect to the given condition for the future experimental results.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.