liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Yaw Rate and Lateral Acceleration Sensor Plausibilisation in an Active Front Steering Vehicle
Linköping University, Department of Electrical Engineering.
2007 (English)Independent thesis Basic level (professional degree), 20 points / 30 hpStudent thesis
Abstract [en]

Accurate measurements from sensors measuring the vehicle's lateral behavior are vital in todays vehicle dynamic control systems such as the Electronic Stability Program (ESP). This thesis concerns accurate plausibilisation of two of these sensors, namely the yaw rate sensor and the lateral acceleration sensor. The estimation is based on Kalman filtering and culminates in the use of a 2 degree-of-freedom nonlinear two-track model describing the vehicle lateral dynamics. The unknown and time-varying cornering stiffnesses are adapted while the unknown yaw moment of inertia is estimated. The Kalman filter transforms the measured signals into a sequence of residuals that are then investigated with the aid of various change detection methods such as the CuSum algorithm. An investigation into the area of adaptive thresholding has also been made.

The change detection methods investigated successfully detects faults in both the yaw rate and the lateral acceleration sensor. It it also shown that adaptive thresholding can be used to improve the diagnosis system. All of the results have been evaluated on-line in a prototype vehicle with real-time fault injection.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2007. , 65 p.
Keyword [en]
Yaw rate, Lateral acceleration, Diagnosis, Change detection, Bicycle model
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-8027ISRN: LiTH-ISY-EX--06/3818--SEOAI: oai:DiVA.org:liu-8027DiVA: diva2:22916
Presentation
2006-11-03, Algorithmen, B-huset, Linköpings universitet, Linköping, 15:15
Uppsok
teknik
Supervisors
Examiners
Available from: 2007-01-10 Created: 2007-01-10

Open Access in DiVA

fulltext(3659 kB)3645 downloads
File information
File name FULLTEXT01.pdfFile size 3659 kBChecksum SHA-1
d2d4cbd7e23c7b9105e4df42db8669b875df01bec3257d2e4c363ea4b2d8cb29b2f0b9ee
Type fulltextMimetype application/pdf

By organisation
Department of Electrical Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 3645 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 1452 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf