Paper Info
Title
Joint Wheel-Slip and Vehicle-Motion Estimation Based on Inertial, GPS, and Wheel-Speed Sensors
Abstract
Joint wheel-slip and vehicle-motion estimation is considered, based on measurements from wheel encoders, an inertial measurement unit, and a global positioning system (GPS). The proposed strategy effectively employs the Rao-Blackwellized particle-filtering framework using a kinematic model. Key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels, are estimated. The results from a demanding field test show the efficacy of the approach; the wheel slip and velocity can be estimated with an absolute accuracy of 0.018 and 0.25 m/s, respectively, measured as time-averaged root-mean-square errors, in periods of simultaneous aggressive braking and cornering. The corresponding differences between best case and worst case performances are 0.005 and 0.1 m/s. The results from a double lane-change maneuver indicate reliable velocity and slip estimation in periods of GPS outage.
Year
DOI
Venue
2016
10.1109/TCST.2015.2470636
IEEE Transactions on Control Systems and Technology
Keywords
Field
DocType
Wheels,Estimation,Vehicles,Global Positioning System,Sensors,Velocity measurement,Acceleration
Inertial frame of reference,Kinematics,Control theory,Simulation,Slip (materials science),Control engineering,Global Positioning System,Inertial measurement unit,Acceleration,Motion estimation,Slip (vehicle dynamics),Mathematics
Journal
Volume
Issue
ISSN
PP
99
1063-6536
Citations 
PageRank 
References 
3
0.41
14
Authors
1
Name
Order
Citations
PageRank
Karl Berntorp12616.30