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

Berntorp, Karl LU (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:
author
organization
publishing date
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
2024-03-17 08:28:29
@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}},
}