Abstract
Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As the accuracy of the vehicular trajectory estimation is reduced with the slippage that occurs during turning, we propose a method in this study to accurately estimate the trajectory of a vehicle, focusing on the slip angle estimation. Although the two-wheel model is used as a general concept slip angle estimation, the accurate estimation of the parameters was difficult using the conventional methods. Therefore, a global navigation satellite system (GNSS) Doppler was used for parameter estimation. In addition, the roll angle was estimated as it occurs during turning and affects the slip angle of the vehicle. Specifically, we verified the improvement in accuracy of the vehicular trajectory estimation using the cost-effective GNSS Doppler/IMU.
Highlights
Highly accurate vehicular trajectory estimation has become imminently important for automated vehicles and advanced driver assistance systems that have been developed in the recent years [1]
The proposed method is expected to increase the accuracy of the slip angle estimation to an extent of validating the two-wheel model
In this paper, we focus on the estimation of slip angle to improve the accuracy of vehicle trajectory estimation, which is an important factor in automatic vehicle driving
Summary
Accurate vehicular trajectory estimation has become imminently important for automated vehicles and advanced driver assistance systems that have been developed in the recent years [1]. Accurate trajectory information has been used in various studies such as constraints for position estimation, 3-D mapping for automated vehicles, route planning, and vehicular control [2–7]. Accuracy is required for trajectory estimation of automated vehicles. The required accuracy is a 2D error of 0.3 m per 100 m of trajectory, which corresponds to the thickness of a tire. Conventional automated vehicles often use GNSS/IMU systems with expensive sensors, such as fiber-optic gyros, to achieve the required accuracy. The method proposed in this study aims to achieve accurate trajectory estimation using inexpensive sensors. We focus on the normal driving range of vehicles and aim to increase the accuracy
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