기구학 기반 요구 요레이트 추정 모델의 시뮬레이션 및 민감도 분석

초록

Yaw rate is one of the important parameters of vehicle stability control systems. This paper presents simplified desired yaw rate estimation model based on the kinematic relation in two-track vehicle model. In this model, yaw rate is estimated using wheel angular speed and steering wheel angle sensor. Yaw rates are derived from treads and velocity differences between right and left wheels for each pair of front and rear wheels. To figure out wheel velocity differences, angular speed of each wheel and tire effective radius is used. Both yaw rates, calculated from each pair of front and rear wheels, are blended together with weight factor. Simulations are performed to verify the accuracy of the yaw rate estimated by proposed model and analyse the sensitivity for parameters of model.