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Fazekas_1660_31237851_ny.pdf
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🔗 Source: eprints.sztaki.hu
📊 Size: 1.05 MB
👤 Author: Máté Fazekas
⬇️ Downloads: 140

Summary

A novel method for estimating wheel circumferences in vehicle model-based localization is proposed, utilizing cost-effective onboard sensors like GPS, magnetometer, IMU, and wheel encoders. The method consists of an offline algorithm with three main layers, connecting Kalman-filter and Least Squares-based estimation processes iteratively. The side-slip is estimated, having a significant impact on vehicle dynamics and further estimations. The method's efficiency is demonstrated through CarSim simulations, showing that small differences in wheel radius can lead to significantly different autonomous vehicle courses. The proposed iterative parameter estimation method can improve the accuracy of vehicle model settings and have applications in autonomous vehicle control and perception methods.

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Description

A novel method for estimating wheel circumferences in vehicle model-based localization is proposed, utilizing cost-effective onboard sensors like GPS,...

Technical Information

  • File Format: PDF
  • File Size: 1.05 MB
  • Pages: 10
  • Language: EN
  • Author: Máté Fazekas
  • Total Downloads: 140
  • Last Updated: 1 week ago

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