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Vehicle Speed Estimation for Articulated Heavy-Duty Vehicles
Linköping University, Department of Electrical Engineering, Automatic Control.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Common trends in the vehicle industry are semiautonomous functions and autonomous solutions. This new type of functionality sets high requirements on the knowledge about the state of the vehicle. A precise vehicle speed is important for many functions, and one example is the positioning system which often is reliant on an accurate speed estimation.

This thesis investigates how an IMU (Inertial Measurement Unit), consisting of a gyroscope and an accelerometer, can support the vehicle speed estimation from wheel speed sensors. The IMU was for this purpose mounted on a wheelloader. To investigate the speed estimation EKFs (Extended Kalman Filters) with different vehicle and sensor models are implemented. Furthermore all filters are extended to Kalman smoothers.

First an analysis of the sensors was performed. The EKFs were then developed and verified using a simulation model developed by Volvo Construction Equipment. The filters were also implemented on the wheel loader and tested on data collected from real world scenarios.

Place, publisher, year, edition, pages
2018. , p. 76
Keywords [en]
kalman, smoother, imu, estimation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-152428ISRN: LiTH-ISY-EX--18/5120--SEOAI: oai:DiVA.org:liu-152428DiVA, id: diva2:1266948
External cooperation
Volvo Construction Equipment
Subject / course
Automatic Control
Supervisors
Examiners
Available from: 2018-11-30 Created: 2018-11-29 Last updated: 2018-11-30Bibliographically approved

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3536373839404138 of 88
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf