Vehicular Trajectory Estimation Utilizing Slip Angle Based on GNSS Doppler/IMU
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.
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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.
Posted 13 Oct, 2020
On 16 Feb, 2021
Received 05 Dec, 2020
On 05 Dec, 2020
Received 09 Nov, 2020
Invitations sent on 21 Oct, 2020
On 21 Oct, 2020
On 21 Oct, 2020
On 10 Oct, 2020
On 10 Oct, 2020
On 09 Oct, 2020
On 08 Oct, 2020
Vehicular Trajectory Estimation Utilizing Slip Angle Based on GNSS Doppler/IMU
Posted 13 Oct, 2020
On 16 Feb, 2021
Received 05 Dec, 2020
On 05 Dec, 2020
Received 09 Nov, 2020
Invitations sent on 21 Oct, 2020
On 21 Oct, 2020
On 21 Oct, 2020
On 10 Oct, 2020
On 10 Oct, 2020
On 09 Oct, 2020
On 08 Oct, 2020
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.