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Vehicle Speed Tracking Using Chassis Vibrations
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0001-8298-3933
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-1971-4295
Linköping University, Faculty of Science & Engineering. Linköping University, Department of Electrical Engineering, Automatic Control.ORCID iD: 0000-0003-3270-171X
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2016 (English)In: Proceedings of the 2016 IEEE Intelligent Vehicles Symposium (IV), IEEE conference proceedings, 2016, 214-219 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Mapping and Localization; Intelligent Ground, Air and Space Vehicles; Advanced Driver Assistance Systems
National Category
Control Engineering Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-129689DOI: 10.1109/IVS.2016.7535388ISI: 000390845600036ISBN: 978-1-5090-1821-5 (print)OAI: oai:DiVA.org:liu-129689DiVA: diva2:942300
Conference
The 2016 IEEE Intelligent Vehicles Symposium (IV), Gothenburg, Sweden, 19-22 June 2016.
Projects
Wallenberg Autonomous Systems Program (WASP)
Funder
Knut and Alice Wallenberg Foundation
Available from: 2016-06-23 Created: 2016-06-23 Last updated: 2017-01-22Bibliographically approved

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Lindfors, MartinHendeby, GustafGustafsson, FredrikKarlsson, Rickard

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CiteExportLink to record
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Citation style
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