Estimation of Vehicle Steering Wheel Angle: An Unscented Kalman Smoother-Based Design

摘要

In recent years, there has been a growing interest in intelligent and adaptive vehicles. They have installed information and support systems, which may involve several applications and gadgets. A foremost reason on such an initiative could be for an adequate prevention of highway crashes and fatal accidents. Literature shows most of these accidents happen when the vehicle fail to estimate the sharp turns with steering angle. In this work, the focus is on an adequate estimation of the steering angle to minimize these accidents. Firstly, dynamics of vehicle have been derived. Secondly, an Unscented Kalman smoother (UKS) has been built to estimate the nonlinear parameters. Numerical evaluations were made on a vehicle model. Results ensure a better performance and accuracy of the proposed scheme.