Abstract
KEYWORDS – Virtual Road, GPS(Global Positioning System), Vehicle Dynamics, State Estimation, EKF(Extended Kalman Filter)
ABSTRACT
This paper presents a method that would create a virtual road to evaluate ESC performance in a simulation environment. It is need to confirm the system on the various road to avoid unintended intervention of ESC system at development stage. For these reason, virtual road must be reflect the characteristics of real road that includes the information of road direction, elevation and road bank angle. Road direction and elevation are easy to find via measuring the GPS(Global Positioning System) signals. The bank angle was estimated with a combination of global roll angle from gyro sensors and vehicle roll angle based on bicycle model with EKF (Extended Kalman Filter) architectures. The virtual road profile was made by simple trigonometric function using road parameters. This paper use the vehicle model to verify the virtual road that is made to perform equal dynamics characteristic compare with real vehicle. And verification of virtual road was carried out to compare vehicle motions in field test with simulation results. Using the virtual road, one of problem that was occurred at development stage is reproduced in simulation environment. It shows the possibility that proposed virtual road is reflect the real road to use for ESC development.