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Research Article
Vehicular Trajectory Estimation Utilizing Slip Angle Based on GNSS Doppler/IMU
Kanamu Takikawa
Meijo University Faculty of Science and Technology Graduate School of Science and Technology: Meijo Daigaku Rikogakubu Daigakuin Rikogaku Kenkyuka
Corresponding Author
ORCiD: https://orcid.org/0000-0001-7773-6962
License:
This work is licensed under a CC BY 4.0 License. Read Full License
View the published version at ROBOMECH Journal.
Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As the accuracy of the vehicular trajectory estimation is reduced with the slippage that occurs during turning, we propose a method in this study to accurately estimate the trajectory of a vehicle, focusing on the slip angle estimation. Although the two-wheel model is used as a general concept slip angle estimation, the accurate estimation of the parameters was difficult using the conventional methods. Therefore, a global navigation satellite system (GNSS) Doppler was used for parameter estimation. In addition, the roll angle was estimated as it occurs during turning and affects the slip angle of the vehicle. Specifically, we verified the improvement in accuracy of the vehicular trajectory estimation using the cost-effective GNSS Doppler/inertial measurement unit.
Keywords
Vehicle Trajectory, Two-wheel model, Autonomous Driving Systems, Multi-GNSS, Urban area
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CURRENT STATUS: Published
Version 1
Posted 13 Oct, 2020
Published
On 16 Feb, 2021
No community comments so far
Review #2 received
Received 05 Dec, 2020
Editorial decision: Major revision
On 05 Dec, 2020
Review #1 received
Received 09 Nov, 2020
Reviewers invited
Invitations sent on 21 Oct, 2020
Reviewer #1 agreed
On 21 Oct, 2020
Reviewer #2 agreed
On 21 Oct, 2020
Editor assigned
On 10 Oct, 2020
Submission checks complete
On 10 Oct, 2020
Editor invited
On 09 Oct, 2020
First submitted
On 08 Oct, 2020
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This preprint is under consideration at ROBOMECH Journal. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Research Article
Vehicular Trajectory Estimation Utilizing Slip Angle Based on GNSS Doppler/IMU
Kanamu Takikawa
Meijo University Faculty of Science and Technology Graduate School of Science and Technology: Meijo Daigaku Rikogakubu Daigakuin Rikogaku Kenkyuka
Corresponding Author
ORCiD: https://orcid.org/0000-0001-7773-6962
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Published
Version 1
Posted 13 Oct, 2020
Published
On 16 Feb, 2021
No community comments so far
Review #2 received
Received 05 Dec, 2020
Editorial decision: Major revision
On 05 Dec, 2020
Review #1 received
Received 09 Nov, 2020
Reviewers invited
Invitations sent on 21 Oct, 2020
Reviewer #1 agreed
On 21 Oct, 2020
Reviewer #2 agreed
On 21 Oct, 2020
Editor assigned
On 10 Oct, 2020
Submission checks complete
On 10 Oct, 2020
Editor invited
On 09 Oct, 2020
First submitted
On 08 Oct, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
License:
This work is licensed under a CC BY 4.0 License. Read Full License
View the published version at ROBOMECH Journal.
Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As the accuracy of the vehicular trajectory estimation is reduced with the slippage that occurs during turning, we propose a method in this study to accurately estimate the trajectory of a vehicle, focusing on the slip angle estimation. Although the two-wheel model is used as a general concept slip angle estimation, the accurate estimation of the parameters was difficult using the conventional methods. Therefore, a global navigation satellite system (GNSS) Doppler was used for parameter estimation. In addition, the roll angle was estimated as it occurs during turning and affects the slip angle of the vehicle. Specifically, we verified the improvement in accuracy of the vehicular trajectory estimation using the cost-effective GNSS Doppler/inertial measurement unit.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
Figure 16
Figure 17
Figure 18
Figure 19
Figure 20
Due to technical limitations, full-text HTML conversion of this manuscript could not be completed. However, the manuscript can be downloaded and accessed as a PDF.