Differential Wheel Speeds Yaw Rate Estimation from · 2002-02-11 · Yaw Rate Estimation from...
Transcript of Differential Wheel Speeds Yaw Rate Estimation from · 2002-02-11 · Yaw Rate Estimation from...
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Yaw Rate Estimation from Differential Wheel Speeds
Christopher R. Carlson
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Menu
• Motivation• Vehicle Model• Test Bed Description• Data• Future Steps• Questions
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Motivation
• Vehicle navigation during GPS dropouts
• Yaw gyros add additional expense
• ABS is standard on many vehicles today
• Need high accuracy: signals are integrated
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d)Vlr –(Vrr
)cos( •d) Vlf – (Vrf ==
δr
Yaw Rate Estimation
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Wheel Radius Estimation
if (not yawing){Compare rev/sec to GPS velocity
}else{
Output last non-yaw result}
ωVR =
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Wheel Speed Sensor
• Stock ABS• Variable Reluctance• 48 [teeth/rev]• Digital Counter
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Novatel GPS
• Velocity @ 20 [Hz]• Accuracy 0.2 [m/s]
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Bosch Yaw Rate Sensor
• Range: 100 [deg/s]• BW: >30 [Hz]
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Single Board Computer
Wheel Speed InterfaceAnalog I/O
AMD K6 350
GPSDataPort
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±×+=2drVV CGrear
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Future Directions
• Look at a dynamic model to compensate for lag in rear wheel yaw rate estimate– First order slip model– Side Slip?
• Model Reduction– How can we know quantitatively when our
model is good enough?
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Conclusion
• First pass system shows promise
• The smaller the error, the longer we can keep a good estimate of attitude
• Need to increase model sophistication
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Questions
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