Next Article in Journal
LTCC Packaged Ring Oscillator Based Sensor for Evaluation of Cell Proliferation
Next Article in Special Issue
Dual-Bayes Localization Filter Extension for Safeguarding in the Case of Uncertain Direction Signals
Previous Article in Journal
BATS: Adaptive Ultra Low Power Sensor Network for Animal Tracking
Previous Article in Special Issue
Modeling and Performance of the IEEE 802.11p Broadcasting for Intra-Platoon Communication
Article Menu
Issue 10 (October) cover image

Export Article

Open AccessArticle
Sensors 2018, 18(10), 3344; https://doi.org/10.3390/s18103344

IMU-Based Virtual Road Profile Sensor for Vehicle Localization

School of Mechanical Engineering, Pusan National University, Busan 46241, Korea
*
Author to whom correspondence should be addressed.
Received: 4 September 2018 / Revised: 28 September 2018 / Accepted: 1 October 2018 / Published: 7 October 2018
(This article belongs to the Special Issue Sensors Applications in Intelligent Vehicle)
Full-Text   |   PDF [8796 KB, uploaded 7 October 2018]   |  

Abstract

A road profile can be a good reference feature for vehicle localization when a Global Positioning System signal is unavailable. However, cost effective and compact devices measuring road profiles are not available for production vehicles. This paper presents a longitudinal road profile estimation method as a virtual sensor for vehicle localization without using bulky and expensive sensor systems. An inertial measurement unit installed in the vehicle provides filtered signals of the vehicle’s responses to the longitudinal road profile. A disturbance observer was designed to extract the characteristic features of the road profile from the signals measured by the inertial measurement unit. Design synthesis based on a Kalman filter was used for the observer design. A nonlinear damper is explicitly considered to improve the estimation accuracy. Virtual measurement signals are introduced for observability. The suggested methodology estimates the road profile that is sufficiently accurate for localization. Based on the estimated longitudinal road profile, we generated spectrogram plots as the features for localization. The localization is realized by matching the spectrogram plot with pre-indexed plots. The localization using the estimated road profile shows a few meters accuracy, suggesting a possible road profile estimation method as an alternative sensor for vehicle localization. View Full-Text
Keywords: road profile estimation; unknown input Kalman filter; virtual measurement; inertial sensor signals; localization road profile estimation; unknown input Kalman filter; virtual measurement; inertial sensor signals; localization
Figures

Figure 1

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).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Gim, J.; Ahn, C. IMU-Based Virtual Road Profile Sensor for Vehicle Localization. Sensors 2018, 18, 3344.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top