SIDESLIP ANGLE ESTIMATION FOR GROUND VEHICLES

Carlos Daniel Reyes Bautista¹; Pablo Siqueira Meirelles¹; Olmer Garcia Bedoya¹

¹ Unicamp

doi:10.20906/CPS/COB-2015-2715

Resumo

The design of a robotic vehicle of Autonomous Mobility Laboratory (LMA) at UNICAMP is developed in-vehicle platform Fiat Punto. In addition to a set of sensors, actuators, mechanism and components (hardware and/or software), new technologies should be developed in support of Automation, Control, Perception, Localization and Navigation. This work presents a non-linear model of the vehicle dynamics and a stochastic estimation model for designing virtual sensors, that estimate several critical parameters of the vehicle dynamics. The simulations are executed applying the extended kalman filter (EKF), and the data obtained are evaluated with the acquired data by software simulation.

Palavras-chave: Sideslip Angle; Kalman Filter; Autonomous vehicle; Simulation