Terrain-based vehicle localization is a valuable alternative to GPS when the signal is blocked or dynamic occlusions exist. However, braking events can induce the slips and vibrations of the vehicle and, thus, increase the errors of terrain-based position estimations. This paper develops a terrain-based localization approach which is robust to braking events. First, the terrain map is generated and stored before localization, which includes distance measurements, terrain feature data, and the geographic locations. The terrain feature data are pitch differences to eliminate the accumulated error. Next, particle-filter-based and acceleration-considered vehicle localization is proposed for position estimation. It takes into account the influence of braking in the vehicle model and the inference process. Experimental results demonstrate the repeatability of pitch difference measurements and the robustness of the proposed approach in the cases of smooth driving and braking.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Terrain-Based Vehicle Localization Approach Robust to Braking


    Beteiligte:
    Li, Tianyi (Autor:in) / Yang, Ming (Autor:in) / Li, Hao (Autor:in) / Deng, Liuyuan (Autor:in) / Wang, Chunxiang (Autor:in)


    Erscheinungsdatum :

    01.08.2019


    Format / Umfang :

    4820214 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A ROBUST TERRAIN-BASED ROAD VEHICLE LOCALIZATION ALGORITHM

    Li, Tianyi / Yang, Ming / Zhou, Xujin et al. | British Library Conference Proceedings | 2016


    Braking system for all-terrain vehicle and all-terrain vehicle

    MEI YU / WANG YANWEI / YANG XIANGRONG | Europäisches Patentamt | 2025

    Freier Zugriff

    A Robust Approach to Vision-Based Terrain-Aided Localization

    Dan Navon / Ehud Rivlin / Hector Rotstein | DOAJ | 2025

    Freier Zugriff

    All-terrain vehicle and braking method thereof

    CHENG CHAOYANG / BI CHUANWEN / YANG QI | Europäisches Patentamt | 2025

    Freier Zugriff

    All-terrain vehicle and hydraulic braking device thereof

    DING XUFENG / LI HANG / CHENG JINGJIE et al. | Europäisches Patentamt | 2025

    Freier Zugriff