Road Grade Estimation for Look-Ahead Vehicle Control
نویسندگان
چکیده
Look-ahead cruise controllers and other advanced driver assistance systems for heavy duty vehicles require high precision digital maps. This contribution presents a road grade estimation algorithm for creation of such maps based on Kalman filter fusion of vehicle sensor data and GNSS positioning information. The algorithm uses data from multiple traversals of the same road to improve previously stored road grade estimates. Measurement data from three test vehicles and six road traversals has been used to evaluate the quality of the obtained road grade estimate compared to a known reference.
منابع مشابه
Road grade estimation for look-ahead vehicle control using multiple measurement runs
Look-ahead cruise controllers and other advanced driver assistance systems for heavy duty vehicles require high precision digital topographic road maps. This paper presents a road grade estimation algorithm for creation of such maps based on Kalman filter fusion of vehicle sensor data and GPS positioning information. The algorithm uses data from multiple passes over the same road to improve pre...
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