Model-Based Embedded Road Grade Estimation Using Quaternion Unscented Kalman Filter

The available road grade information makes a significant impact on improving the quality of vehicle control. In order to solve the limited application scenario and insufficient accuracy of current road grade estimation methods, this paper presents a novel model-based road grade estimation approach....

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Bibliographic Details
Published in:IEEE transactions on vehicular technology 2022-04, Vol.71 (4), p.3704-3714
Main Authors: Li, Erhang, He, Wenpei, Yu, Huilong, Xi, Junqiang
Format: Article
Language:English
Subjects:
Acceleration
Accelerometers
Algorithms
allan variance
Angular velocity
Controller area network
Estimation
Inertial platforms
Kalman filters
Mathematical models
Noise measurement
Pitch (inclination)
quaternion unscented Kalman filter
Quaternions
Road grade estimation
Roads
Shafts (machine elements)
simplified vehicle-road model
Traffic speed
Vehicle dynamics
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Summary:The available road grade information makes a significant impact on improving the quality of vehicle control. In order to solve the limited application scenario and insufficient accuracy of current road grade estimation methods, this paper presents a novel model-based road grade estimation approach. First, a Quaternion Unscented Kalman Filter (QUKF) using the three-axle angular velocities and three-axle accelerations from a low-cost Inertial Measurement Unit (IMU) and the vehicle speed from CAN bus is designed to estimate the pitch angle of the vehicle. In particular, the measurement noise of UKF is analyzed by integrating Allan variance method. Second, a simplified vehicle-road model is derived to represent the road grade with the estimated pitch angle and longitudinal acceleration. Then, the performance of the proposed algorithm is tested by co-simulation of MATLAB/Simulink and CarSim, which indicates that the error rate of estimation is within 4%. Finally, the feasibility and accuracy of the proposed method implemented in the embedded prototype are verified in experiments conducted on standard slopes.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2022.3148133