Estimation of the yaw moment of inertia of a vehicle for automatic platooning

Abstract

Automatic platooning is an advanced traffic system aimed at solving environmental and traffic problems in the transportation field. Identifying accurate parameters for vehicle control in any driving conditions can guarantee high performance in automatic platooning. In this study, an identification method is proposed for the yaw moment of inertia that is essential parameter for the steering control. The performance of the proposed estimation method was evaluated through experiments using GPS measurement system with two different road conditions, one on a straight flat road and the other on a banked curved road. The validity of the proposed identification method using GPS measurement system was verified by comparing the measured yaw moments of inertia on the banked curved road condition.