Vehicle position estimation using tire model

被引：8
作者：
Yoon, Jaewoo [1 ]
Kim, Byeongwoo [2 ]
机构：
[1] Graduate School of Electrical Engineering, University of Ulsan, 93 Daehak-ro, Ulsan
[2] School of Electrical Engineering, University of Ulsan, 93 Daehak-ro, Ulsan
来源：
Lecture Notes in Electrical Engineering | 2015年 / 339卷
关键词：
Autonomous vehicle; Dead Reckoning; Dugoff’s tire model; Extended Kalman filter; Localization;
D O I：
10.1007/978-3-662-46578-3_90
中图分类号：
学科分类号：
摘要：
GPS is being widely used in the location estimation technology, which is essential for stable driving of autonomous vehicle. However, GPS has problems such as reduction in location accuracy during abrupt vehicle behavior at high speed, and limitations such as signal interruption in tunnels and downtown areas. To overcome this problem, an algorithm that combines various sensor information and longitudinal/lateral slip is required. This paper proposes a three-degree of freedom (3-DoF) vehicle dynamics model, in which Dugoff’s tire model is applied, and an algorithm, which combines various sensor information inside the vehicle by using extended Kalman filter. The performance of proposed location estimation algorithm was analyzed and evaluated through simulations. As a result, it is confirmed that the location estimation result of proposed algorithm is more accurate than that of method using GPS even during abrupt changes in motion. © Springer-Verlag Berlin Heidelberg 2015.
引用
收藏
页码：761 / 768
页数：7
相关论文
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