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Road Profile Estimation for Vehicle Localization

[+] Author Affiliations
Juhui Gim, Changsun Ahn

Pusan National University, Busan, Korea

Paper No. DSCC2017-5176, pp. V002T17A005; 7 pages
doi:10.1115/DSCC2017-5176
From:
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME

abstract

Measuring road profile is mainly used for a road maintenance purpose. Another interesting application of the knowledge on road profile is vehicle localization if the knowledge is available in real-time. A cost effective and implementable approach of measuring or estimating a road profile in a passenger vehicle is estimating the profile using inertial sensors that is readily installed for active safety features. The suggested method is a Kalman filter based disturbance observer without assuming a constant disturbance. By estimating the disturbance of k-1 time step at the k time step, the constant disturbance assumption is not necessary. The required observer structure and dynamics are presented as well as simulation and experimental results.

Copyright © 2017 by ASME
Topics: Vehicles , Roads

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