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Dual-Bayes Localization Filter Extension for Safeguarding in the Case of Uncertain Direction Signals

Brunker, A. 1; Wohlgemuth, T.; Frey, M. ORCID iD icon 1; Gauterin, F. ORCID iD icon 1
1 Institut für Fahrzeugsystemtechnik (FAST), Karlsruher Institut für Technologie (KIT)


In order to run a localization filter for parking systems in real time, the directional information must be directly available when a distance measurement of the wheel speed sensor is detected. When the vehicle is launching, the wheel speed sensors may already detect distance measurement in the form of Delta-Wheel-Pulse-Counts (DWPCs) without having defined a rolling direction. This phenomenon is particularly problematic during parking maneuvers, where many small correction strokes are made. If a localization filter is used for positioning, the restrained DWPCs cannot process in real time. Without directional information in the form of a rolling direction signal, the filter has to ignore the DWPCs or artificially stop until a rolling direction signal is present. For this reason, methods for earlier estimation of the rolling direction based on the pattern of the incoming DWPCs and based on the force equilibrium have been presented. Since the new methods still have their weaknesses and a wrong estimation of the rolling direction can occur, an extension of a so-called Dual-Localization filter approach is presented. The Dual-Localization filter uses two localization filters and an intelligent initialization logic that ensures that both filters move in opposite directions at launching. ... mehr

Verlagsausgabe §
DOI: 10.5445/IR/1000087604
Veröffentlicht am 22.01.2019
DOI: 10.3390/s18103539
Zitationen: 2
Web of Science
Zitationen: 2
Zitationen: 2
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Fahrzeugsystemtechnik (FAST)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2018
Sprache Englisch
Identifikator ISSN: 1424-8220
KITopen-ID: 1000087604
Erschienen in Sensors
Verlag MDPI
Band 18
Heft 10
Seiten Art. Nr.: 3539
Bemerkung zur Veröffentlichung Gefördert durch den KIT-Publikationsfonds
Vorab online veröffentlicht am 19.10.2018
Schlagwörter Bayes filter, driving state estimation, direction detection, pattern recognition, equilibrium of forces, slope
Nachgewiesen in Web of Science
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