This work develops a particle filter algorithm to localise a vehicle in the direction of travel without the use of GPS. The inputs to the algorithm include a terrain map of road grade, pitch measurements from an in-vehicle pitch sensor, and wheel odometry. Simulations and experiments at The Thomas D. Larson Transportation Institute test track are used to demonstrate the algorithm, observe the speed of convergence, and to determine key parameters for practical implementation. The results indicate that the method can quickly localise a vehicle with 1 m accuracy or better. Experiments over 5 km along Highway 322 in State College, Pennsylvania, were also used to demonstrate the algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Terrain-based road vehicle localisation using particle filters


    Contributors:
    Dean, A. (author) / Martini, R. (author) / Brennan, S. (author)

    Published in:

    Vehicle System Dynamics ; 49 , 8 ; 1209-1223


    Publication date :

    2011-08-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Terrain-based road vehicle localisation using particle filters

    Dean,A. / Martini,R. / Brennan,S. et al. | Automotive engineering | 2011




    Application of Particle Filters for Vehicle Positioning Using Road Maps

    Davidson, P. / Collin, J. / Raquet, J. et al. | British Library Conference Proceedings | 2010


    All-terrain off-road vehicle and all-terrain vehicle side door structure

    CHEN ZHIYONG / ZOU PENGFEI / WANG ZHUO et al. | European Patent Office | 2021

    Free access