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Vehicle position estimation using nonlinear tire model for autonomous vehicle

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Abstract

To achieve technical perfection of the Advanced driver assistant system (ADAS), accurate analysis of the vehicle’s position is essential. For this, conventionally, sensor fusion has been carried out using a general GPS and general Inertial measurement unit (IMU), but the position accuracy decreases because of inertial sensor accumulation. Furthermore, because a vehicle tire model is analyzed by linearization and using a bicycle model, the position error increases. To solve this, in this study, a fusion algorithm was proposed by using an extended Kalman filter based on the non-linear tire model for the vehicle state information and by using the general GPS position information provided by the electric stability program of the vehicle. The fusion algorithm proposed in this study allowed us to suggest a position error correction method corresponding to a high precision Differential global positioning system (DGPS) within 1 m.

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, 44610, Korea

    Jae-woo Yoon

  2. School of Electrical Engineering, University of Ulsan, Ulsan, 44610, Korea

    Byeong-woo Kim

Authors
  1. Jae-woo Yoon
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  2. Byeong-woo Kim
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Corresponding author

Correspondence to Byeong-woo Kim.

Additional information

Recommended by Associate Editor Hyoun Jin Kim

Jae-woo Yoon received the B.S. and M.S. degrees in electrical engineering from the University of Ulsan, Korea in 2013 and 2016. He is currently working toward the Ph.D. degree. His current researches of interest are advanced driving assistance system (ADAS), autonomous vehicle, information fusion theories and application for vehicle localization and design of intelligent vehicles.

Byeong-woo Kim received a B.S., M.S. and Ph.D. degrees at precision mechanical engineering, Hanyang University, Korea. He worked at KOSAKA Research Center in 1989. He worked at KATECH Electrical Technology Research Center from 1994 to 2006. Now he is a Professor in the School of electrical engineering in University of Ulsan, Ulsan, South Korea from 2006. His current research interests include advanced driving assistance system (ADAS) and autonomous vehicle.

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Yoon, Jw., Kim, Bw. Vehicle position estimation using nonlinear tire model for autonomous vehicle. J Mech Sci Technol 30, 3461–3468 (2016). https://doi.org/10.1007/s12206-016-0705-5

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  • DOI: https://doi.org/10.1007/s12206-016-0705-5

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