Title: Reliability indexed sensor fusion for vehicle longitudinal and lateral velocity estimation

Authors: Hyeongcheol Lee

Addresses: 2353 Timbercrest Ct., Ann Arbor, MI 48105, USA

Abstract: In this paper, a new estimation technique, reliability indexed sensor fusion (RISF), is proposed. The proposed RISF technique uses noise covariances as the reliability index in an adaptive Kalman filter framework. The uniform boundedness of the RISF is proved and the RISF technique is applied to the vehicle longitudinal and lateral velocity estimation. Multiple sensors, such as the wheel speed sensors, the accelerometers, the yaw rate sensor, and the steering angle sensor, are used for the velocity estimation. Test results show the accuracy of the proposed RISF technique.

Keywords: sensor fusion; Kalman filter; vehicle velocity estimation.

DOI: 10.1504/IJVD.2003.003580

International Journal of Vehicle Design, 2003 Vol.33 No.4, pp.351 - 364

Published online: 19 Sep 2003 *

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