This paper presents a novel Kalman filter based road grade estimation method using measurements from an accelerometer, a gyroscope and a velocity sensor. The accelerometer measures the longitudinal proper acceleration of the vehicle, and the accelerometer measurement is almost drift free but it is heavily corrupted by the accelerometer noise. The gyroscope measures the pitch rate of the vehicle, and the gyroscope measurement is quite clean but it is substantially disturbed by the gyroscope bias. The velocity sensor measures the longitudinal velocity of the vehicle, and the velocity sensor measurement is also considerably corrupted by the measurement noise. The developed Kalman filter based estimation method uses the models of the sensors and their outputs, and fuses the sensor measurements to optimally estimate the road grade. The simulation results show that the developed method is very effective in producing an accurate road grade estimate.


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    Title :

    A Novel Kalman Filter Based Road Grade Estimation Method


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    WCX SAE World Congress Experience ; 2020



    Publication date :

    2020-04-14




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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