This paper proposes a road-slope estimation algorithm to improve the performance and efficiency of intelligent vehicles. The algorithm integrates three types of road-slope measurements from a GPS receiver, automotive onboard sensors, and a longitudinal vehicle model. The measurement integration is achieved through a probabilistic data association filter (PDAF) that combines multiple measurements into a single measurement update by assigning statistical probability to each measurement and by removing faulty measurement via the false-alarm function of the PDAF. In addition to the PDAF, an interacting multiple-model filter (IMMF) approach is applied to the slope estimation algorithm to allow adaptation to various slope conditions. The model set of the IMMF is composed of a constant-slope road model (CSRM) and a constant-rate slope road model (CRSRM). The CSRM assumes that the slope of the road is always constant, and the CRSRM assumes that the slope of the road changes at a constant rate. The IMMF adapts the road-slope model to the driving conditions. The developed algorithm is verified and evaluated through experimental and case studies using a real-time embedded system. The results show that the performance and efficiency of the road-slope estimation algorithm is accurate and reliable enough for intelligent vehicle applications.
Real-Time Road-Slope Estimation Based on Integration of Onboard Sensors With GPS Using an IMMPDA Filter
IEEE Transactions on Intelligent Transportation Systems ; 14 , 4 ; 1718-1732
2013-12-01
3646435 byte
Article (Journal)
Electronic Resource
English
Bayesian Road Estimation Using Onboard Sensors
Online Contents | 2014
|Bayesian Road Estimation Using Onboard Sensors
IEEE | 2014
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