Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation
(2015) American Control Conference, 2015 In IEEE Xplore Digital Library p.5414-5419- 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:
https://lup.lub.lu.se/record/5368040
- author
- Berntorp, Karl LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- particlef filtering, nonlinear estimation, wheel slip, vehicle control
- host publication
- 2015 American Control Conference (ACC)
- series title
- IEEE Xplore Digital Library
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- American Control Conference, 2015
- conference location
- Chicago, IL, United States
- conference dates
- 2015-07-01 - 2015-07-03
- external identifiers
-
- scopus:84940913575
- ISSN
- 0743-1619
- 2378-5861
- ISBN
- 978-1-4799-1773-0
- 978-1-4799-8684-2
- DOI
- 10.1109/ACC.2015.7172186
- project
- ENGROSS
- language
- English
- LU publication?
- yes
- id
- 7d88b33f-2a93-4758-9a97-400fd2bd119b (old id 5368040)
- date added to LUP
- 2016-04-04 13:27:00
- date last changed
- 2025-01-07 07:45:24
@inproceedings{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}}, booktitle = {{2015 American Control Conference (ACC)}}, isbn = {{978-1-4799-1773-0}}, issn = {{0743-1619}}, keywords = {{particlef filtering; nonlinear estimation; wheel slip; vehicle control}}, language = {{eng}}, pages = {{5414--5419}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, series = {{IEEE Xplore Digital Library}}, title = {{Particle Filter for Combined Wheel-Slip and Vehicle-Motion Estimation}}, url = {{https://lup.lub.lu.se/search/files/21680257/5368044.pdf}}, doi = {{10.1109/ACC.2015.7172186}}, year = {{2015}}, }