Integrated Localization Method for Intelligent Vehicles Based on Tire Radius Adaption

Abstract:

Localization system is one of the most important parts in the environment perception system for intelligent vehicles. This paper proposed a GNSS （Global Navigation Satellites System）/IMU （Inertial Measurement Unit）/ WSS （Wheel Speed Sensor） integrated localization algorithm scheme based on tire effective radius adaption to improve the localization accuracy. First， a multi-model fusion tire effective rolling radius adaptive estimation algorithm considering wheel dynamics was designed. Then， the multi-sensor fusion integrated localization algorithm based on adaptive Kalman filter was proposed. The experimental results show that if the initial tire radius has small error， the accuracy of integrated localization algorithm can be improved by at least 30% with the tire radius adaption algorithm embedded in the system.

Key words:intelligent vehicle;integrated localization;tire radius estimation;information fusion