Model Based Vehicle Localization via an Iterative Parameter Estimation

Máté Fazekas, Balázs Németh, Péter Gáspár

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel method for the estimation of the wheel circumferences, which have significant effects on a vehicle model based localization. One of the advantages of the method is that only cost effective onboard sensors, such as GPS, magnetometer, IMU and wheel encoders are used. Moreover, the estimation methods based on pure vehicle models can result in suitable localization, when other solutions are not effective i.e. the GPS signals are not available or other sensors are inaccurate, such as IMU measurements with low, constant velocity. The presented off-line algorithm has three main layers connecting the Kalman-filter and Least Squares based estimation processes in an iterative way. During the procedure the side-slip is estimated, which has a significant impact on the dynamics of the vehicle and the further estimations. Since in the method all of the measurements are used at once and the side-slip is also calculated, a highly accurate identification with low sensitivity on the noise can be reached. The efficiency of the vehicle model calibration is presented through CarSim simulations.

Original languageEnglish
Title of host publicationAdvances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
EditorsMatthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
PublisherSpringer
Pages1660-1669
Number of pages10
ISBN (Print)9783030380762
DOIs
Publication statusPublished - Jan 1 2020
Event26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden
Duration: Aug 12 2019Aug 16 2019

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
CountrySweden
CityGothenburg
Period8/12/198/16/19

Keywords

  • Autonomous localization
  • Estimation
  • Kalman filter
  • Self-calibration

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes

Fingerprint Dive into the research topics of 'Model Based Vehicle Localization via an Iterative Parameter Estimation'. Together they form a unique fingerprint.

  • Cite this

    Fazekas, M., Németh, B., & Gáspár, P. (2020). Model Based Vehicle Localization via an Iterative Parameter Estimation. In M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 (pp. 1660-1669). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_189