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Road Slope Estimation Using a Longitudinal Accelerometer and Kalman Filtering

Bonnedahl, Tobias (2010) In MSc Theses
Department of Automatic Control
Abstract
Heavy-duty vehicles of today consist of much electronics and many sensors. One of these sensors is a longitudinal accelerometer. This Master's thesis investigates the possibilities to determine the road slope angle with a longitudinal accelerometer. With the knowledge of current road slope angle, many other control systems in the trucks can be improved. The optimization of these control systems are important in order to maximize safety and minimize fuel consumption. The work consisted of developing an observer for estimating the road slope angle and tuning it until the results were satisfying. The estimations are made with a Kalman filter. Improvements obtained with fixed lag smoothing are also investigated. The results obtained in the... (More)
Heavy-duty vehicles of today consist of much electronics and many sensors. One of these sensors is a longitudinal accelerometer. This Master's thesis investigates the possibilities to determine the road slope angle with a longitudinal accelerometer. With the knowledge of current road slope angle, many other control systems in the trucks can be improved. The optimization of these control systems are important in order to maximize safety and minimize fuel consumption. The work consisted of developing an observer for estimating the road slope angle and tuning it until the results were satisfying. The estimations are made with a Kalman filter. Improvements obtained with fixed lag smoothing are also investigated. The results obtained in the thesis show that the road slope angle can be estimated with a longitudinal accelerometer. The results are satisfying, except during powerful retardations. A solution for improvement in these scenarios is presented. The solution consists of changing the dynamics of the estimations when a retardation is detected. (Less)
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author
Bonnedahl, Tobias
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5856
ISSN
0280-5316
language
English
id
8847441
date added to LUP
2016-03-16 12:29:20
date last changed
2016-03-16 12:29:20
@misc{8847441,
  abstract     = {Heavy-duty vehicles of today consist of much electronics and many sensors. One of these sensors is a longitudinal accelerometer. This Master's thesis investigates the possibilities to determine the road slope angle with a longitudinal accelerometer. With the knowledge of current road slope angle, many other control systems in the trucks can be improved. The optimization of these control systems are important in order to maximize safety and minimize fuel consumption. The work consisted of developing an observer for estimating the road slope angle and tuning it until the results were satisfying. The estimations are made with a Kalman filter. Improvements obtained with fixed lag smoothing are also investigated. The results obtained in the thesis show that the road slope angle can be estimated with a longitudinal accelerometer. The results are satisfying, except during powerful retardations. A solution for improvement in these scenarios is presented. The solution consists of changing the dynamics of the estimations when a retardation is detected.},
  author       = {Bonnedahl, Tobias},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Road Slope Estimation Using a Longitudinal Accelerometer and Kalman Filtering},
  year         = {2010},
}