Forthcoming and Online First Articles

International Journal of Vehicle Safety

International Journal of Vehicle Safety (IJVS)

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International Journal of Vehicle Safety (One paper in press)

Regular Issues

  • Real-time estimation of road grade using vehicle 7-DOF dynamics model   Order a copy of this article
    by Shuang Luo, Guiyuan Chen, Changqing Jing 
    Abstract: Road grade information is crucial for the motion control and decision-making of vehicles, but it is difficult to measure accurately. Hence, a vehicle dynamics model with 7 degrees of freedom (DOF) is established, and a road grade estimator is designed using an unscented Kalman filter. The mean absolute error (MAE) and root mean square error (RMSE) between the estimated and actual grades are used to objectively evaluate estimation performance. Furthermore, the estimation results are compared with those of estimators based on the widely used vehicle kinematics model and 1-DOF longitudinal dynamics model. The results show that mismatches and even abnormal peaks are found while longitudinal acceleration changes for the kinematics model-based estimator and that the 1-DOF model-based estimator exhibits a temperamental performance. The presented grade estimator has the advantages of having the highest precision and fewer jitters on continuously variable grade roads or with a variable driving speed.
    Keywords: road grade; estimator; UKF; kinematics model; 1-DOF model; 7-DOF model; lateral acceleration; yaw motion; wheel rotations; CarSim-MATLAB.
    DOI: 10.1504/IJVS.2024.10067538
     

 

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