Vehicle Parameter and Road Grade Estimation Based on Kalman Filter: Theory and Experiments

Ming Cheng; Zhe Wang; Gang Tao

doi:10.4028/www.scientific.net/AMM.157-158.1376

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 157-158Vehicle Parameter and Road Grade Estimation Based...

Vehicle Parameter and Road Grade Estimation Based on Kalman Filter: Theory and Experiments

Abstract:

Road slope and vehicle parameter is of great importance in vehicle control. In order to estimate the on-line road grade, an accelerometer is mounted on a vehicle. A state-space model for the Kalman Filter is established. And R and Q matrix of the filter is tuned offline to optimize the filter. By experiments, the feasibility of the model as well as the algorithm is verified to be able to estimate the road grade online with precision and little delay. Other vehicle parameters can therefore be estimated with the road grade.

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Periodical:

Applied Mechanics and Materials (Volumes 157-158)

Pages:

1376-1379

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.157-158.1376

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Online since:

February 2012

Authors:

Ming Cheng, Zhe Wang, Gang Tao

Keywords:

Automotive Kinematics, Grade Estimation, Kalman Filter (KF), Sensor Fusion

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References

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