Inertial Navigation and Position Uncertainty during a Blind Safe Stop of an Autonomous Vehicle
Artikel i vetenskaplig tidskrift, 2020

This work considers the problem of position and
position-uncertainty estimation for autonomous vehicles during
power black-out, where it cannot be assumed that any position
data is accessible. To tackle this problem, the position estimation
will instead be performed using power separated and independent
measurement devices, including one inertial 6 Degrees of Freedom (DOF) measurement unit, four angular wheel speed sensors
and one pinion angle sensor. The measurement unit’s sensors
are initially characterized in order to understand conceptual
limitations of the inertial navigation and also to be used in a
filtering process. Measurement models are then fused together
with vehicle dynamics process models using the architecture of
an Extended Kalman Filter (EKF). Two different EKF filter
concepts are developed to estimate the vehicle position during
a safe stop; one simpler filter for smooth manoeuvres and a
complex filter for aggressive manoeuvres. Both filter designs are
tested and evaluated with data gathered from an experimental
vehicle for selected manoeuvres of developed safe-stop scenarios.
The experimental results from a set of use-case manoeuvres
show a trend where the size of the position estimation errors
significantly grows above an initial vehicle speed of 70 km/h.
This paper contributes to develop vehicle dynamics models for
the purpose of a blind safe stop.

Sensor phenomena and characterization


Vehicle dynamics

Dead reckoning


Inertial navigation


Mats Jonasson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Åsa Rogenfelt

CPAC Systems

charlotte lanfelt

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

IEEE Transactions on Vehicular Technology

0018-9545 (ISSN)

Vol. 69 5 4788-4802

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