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Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation

Berntorp, Karl LU (2015) American Control Conference, 2015
Abstract
The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinematic relationships. We present experimental data for one test scenario, using a Volkswagen Golf equipped with state-of-the-art sensors for determining ground truth. We report highly promising results, even for periods of combined aggressive cornering and braking.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
particlef filtering, nonlinear estimation, wheel slip, vehicle control
pages
6 pages
conference name
American Control Conference, 2015
external identifiers
  • Scopus:84940913575
project
ENGROSS
language
English
LU publication?
yes
id
7d88b33f-2a93-4758-9a97-400fd2bd119b (old id 5368040)
date added to LUP
2015-05-18 14:07:33
date last changed
2016-10-13 04:55:04
@misc{7d88b33f-2a93-4758-9a97-400fd2bd119b,
  abstract     = {The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinematic relationships. We present experimental data for one test scenario, using a Volkswagen Golf equipped with state-of-the-art sensors for determining ground truth. We report highly promising results, even for periods of combined aggressive cornering and braking.},
  author       = {Berntorp, Karl},
  keyword      = {particlef filtering,nonlinear estimation,wheel slip,vehicle control},
  language     = {eng},
  pages        = {6},
  title        = {Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation},
  year         = {2015},
}