Estimation of Vehicle Attitude, Acceleration, and Angular Velocity Using Convolutional Neural Network and Dual Extended Kalman Filter
- Title
- Estimation of Vehicle Attitude, Acceleration, and Angular Velocity Using Convolutional Neural Network and Dual Extended Kalman Filter
- Author
- 박장현
- Keywords
- sensor fusion; state estimation; vehicle dynamics; convolutional neural network; dual extended Kalman filter; vehicle roll and pitch angle; vehicle acceleration and angular velocity
- Issue Date
- 2021-02
- Publisher
- MDPI
- Citation
- SENSORS, v. 21, NO. 4, article no. 1282
- Abstract
- The acceleration of a vehicle is important information in vehicle states. The vehicle acceleration is measured by an inertial measurement unit (IMU). However, gravity affects the IMU when there is a transition in vehicle attitude; thus, the IMU produces an incorrect signal output. Therefore, vehicle attitude information is essential for obtaining correct acceleration information. This paper proposes a convolutional neural network (CNN) for attitude estimation. Using sequential data of a vehicle's chassis sensor signal, the roll and pitch angles of a vehicle can be estimated without using a high-cost sensor such as a global positioning system or a six-dimensional IMU. This paper also proposes a dual-extended Kalman filter (DEKF), which can accurately estimate acceleration/angular velocity based on the estimated roll/pitch information. The proposed method is validated by real-car experiment data and CarSim, a vehicle simulator. It accurately estimates the attitude estimation with limited sensors, and the exact acceleration/angular velocity is estimated considering the roll and pitch angle with de-noising effect. In addition, the DEKF can improve the modeling accuracy and can estimate the roll and pitch rates.
- URI
- https://www.mdpi.com/1424-8220/21/4/1282https://repository.hanyang.ac.kr/handle/20.500.11754/177941
- ISSN
- 1424-8220;1424-3210
- DOI
- 10.3390/s21041282
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
- Files in This Item:
- Estimation of Vehicle Attitude, Acceleration, and Angular Velocity Using Convolutional Neural Network and Dual Extended Kalman Filter.pdfDownload
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