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Sensors 2018, 18(10), 3344;

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)
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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

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

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