Vehicle Speed Tracking Using Chassis Vibrations
2016 (English)In: Proceedings of the 2016 IEEE Intelligent Vehicles Symposium (IV), IEEE conference proceedings, 2016, 214-219 p.Conference paper (Refereed)
The speed of a wheeled vehicle is usually estimatedusing wheel speed sensors (WSS) or GPS. If these signals are unavailable, other methods must be used. We propose a novelapproach exploiting the fact that vibrations from rotating axles,with fundamental frequency proportional to vehicle speed, aretransmitted via the vehicle chassis. Using an accelerometer, these vibrations can be tracked to estimate vehicle speed whileother sources of vibrations act as disturbances. A state-space model for the dynamics of the harmonics is presented andformulated such that there is a conditional linear-Gaussiansubstructure, enabling efficient Rao-Blackwellized methods. Avariant of the Rao-Blackwellized point-mass filter is derived, significantly reducing computational complexity, and reducingthe memory requirements from quadratic to linear in thenumber of grid points. It is applied to experimental data from the sensor cluster of a car and validated using therotational frequency from WSS data. The proposed methodshows improved performance and robustness in comparisonto a Rao-Blackwellized particle filter implementation and afrequency spectrum maximization method.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 214-219 p.
Mapping and Localization; Intelligent Ground, Air and Space Vehicles; Advanced Driver Assistance Systems
Control Engineering Signal Processing
IdentifiersURN: urn:nbn:se:liu:diva-129689DOI: 10.1109/IVS.2016.7535388OAI: oai:DiVA.org:liu-129689DiVA: diva2:942300
The 2016 IEEE Intelligent Vehicles Symposium (IV), Gothenburg, Sweden, 19-22 June 2016.
ProjectsWallenberg Autonomous Systems Program (WASP)
FunderKnut and Alice Wallenberg Foundation