Real-Time Identification of Yaw Moment of Inertia of a Travelling Heavy Duty Truck


To achieve advanced control of automobiles, such as automatic platooning control, it is needed to know values of parameters of the vehicle. It is demanded especially in controlling trucks, since the mass and the inertia change widely according to the loaded condition. Then the authors propose to estimate the yaw moment of inertia of the truck on real time during travelling. Dual Kalman filter, which estimates the state variables and values of the parameters simultaneously on real time, is applied to the method. The results of the numerical simulations show the proposed method is effective for the estimation.隊列走行等の自動運転が提案されているが,そのよう制御を実現するためには,ヨー慣性モーメントのような車両パラメータの実時間における推定が求められている.絶対速度を計測できるGPSセンサを用いて,ヨー慣性モーメントを実時間で同定する手法を提案し,数値解析によって性能の検討を行う.


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  • Accession Number: 01666878
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: Jan 31 2018 3:19PM