Vehicle Parameter and Road Grade Estimation Based on Kalman Filter: Theory and Experiments
Road slope and vehicle parameter is of great importance in vehicle control. In order to estimate the on-line road grade, an accelerometer is mounted on a vehicle. A state-space model for the Kalman Filter is established. And R and Q matrix of the filter is tuned offline to optimize the filter. By experiments, the feasibility of the model as well as the algorithm is verified to be able to estimate the road grade online with precision and little delay. Other vehicle parameters can therefore be estimated with the road grade.
Kalman Filter Sensor Fusion Grade Estimation Automotive Kinematics
Ming Cheng Zhe Wang Gang Tao
Intelligent Vehicle Center, Beijing Institute of Technology, Beijing China
国际会议
2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)
香港
英文
1376-1379
2011-12-27（万方平台首次上网日期，不代表论文的发表时间）