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Radar-Based Approach for Side-Slip Gradient Estimation Mercedes Benz AG
- Format:
- Book
- Conference/Event
- Author/Creator:
- Diener, Luis, author.
- Conference Name:
- 2024 Stuttgart International Symposium (2024-07-02 : Stuttgart, Germany)
- Language:
- English
- Physical Description:
- 1 online resource cm
- Place of Publication:
- Warrendale, PA SAE International 2024
- Summary:
- This paper presents a novel and robust approach to estimate both the side-slip gradient and the lateral velocity by integrating radar-doppler measurements into a vehicle motion observer. In ego-motion estimation the side-slip gradient is used to model the lateral velocity of the vehicle, since it cannot be measured directly. The algorithm only requires low-dynamic, steady-state excitation and is based on an adaptive Kalman-Filter assuring high accuracy and stability. The number of radar sensors can be chosen arbitrarily. The algorithm has shown to estimate the side-slip gradient within 10% of its true value. It also rejects radar outliers and does not depend on permanent availability of the radar sensors. The approach requires little tuning which makes it applicable to mass-produced vehicles
- Notes:
- Vendor supplied data
- Publisher Number:
- 2024-01-2976
- Access Restriction:
- Restricted for use by site license
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