6륜 인휠 구동 차량의 야지 주행시 차량 속도 추정 알고리즘

In-wheel driving vehicles have no speed sensor and speed of in-wheel driving vehicles is difficult to be estimated especially in off-road driving condition because of tire-slip. In this paper, vehicle speed estimation algorithm for off-road driving of six-wheeled in-wheel driving vehicles is described. From calculation of average wheel speed and acceleration of each wheel, the wheel speed value which is regarded as in severe slip circumstance is filtered and vehicle acceleration information is used for compensation. Speed estimation quality of the proposed vehicle speed estimation algorithm was investigated via computer simulation study with off-road profile given by TruckSim.