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Sensors 2016, 16(9), 1400; doi:10.3390/s16091400

A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation

Mechanical Engineering Department, Universidad Carlos III de Madrid, Avda. de la Universidad 30, Madrid 28911, Spain
Mechanical Engineering-Engineering Mechanics Department, Michigan Tech University, 1400 Townsend Drive, Houghton 49931, Michigan, MI, USA
Author to whom correspondence should be addressed.
Academic Editors: Xue-Bo Jin, Feng-Bao Yang, Shuli Sun and Hong Wei
Received: 11 July 2016 / Revised: 16 August 2016 / Accepted: 22 August 2016 / Published: 31 August 2016
(This article belongs to the Special Issue Advances in Multi-Sensor Information Fusion: Theory and Applications)
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This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a “pseudo-roll angle” through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors’ estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator. View Full-Text
Keywords: sensor fusion; roll angle estimation; neural network; linear Kalman filter sensor fusion; roll angle estimation; neural network; linear Kalman filter

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Vargas-Meléndez, L.; Boada, B.L.; Boada, M.J.L.; Gauchía, A.; Díaz, V. A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation. Sensors 2016, 16, 1400.

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