Road grade estimation for look-ahead vehicle control using multiple measurement runs

Sahlholm, Per; Johansson, Karl Henrik

doi:10.1016/j.conengprac.2009.09.007

Cited by 109 publications

(62 citation statements)

References 17 publications

(16 reference statements)

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“…The authors have previously developed a filtering method for combining vehicle sensor and GPS data to produce a road grade estimate [4]. The method is focused on storing road grade estimates such that they can be improved whenever new data become available.…”

Section: Related Workmentioning

confidence: 99%

Piecewise Linear Road Grade Estimation

Sahlholm

Gattami

Johansson

2011

SAE Technical Paper Series

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Emerging heavy duty vehicle control systems increasingly rely on advance knowledge of the road topography, described by the longitudinal road grade. Highway road grade profiles are restricted by road design specifications to be piecewise affine. This characteristic is used herein to derive a method for road grade estimation based on standard on-vehicle sensors and optimal piecewise linear estimation through dynamic programming. The proposed method is demonstrated with on-road experiments. It is able to represent the road grade profile for two studied 15 km road sections, by 20 linear segments for each, with a root mean square error between 0.42 % and 0.55 % grade.

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Section: Related Workmentioning

confidence: 99%

Piecewise Linear Road Grade Estimation

Sahlholm

Gattami

Johansson

2011

SAE Technical Paper Series

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“…Numerous approaches to estimation problems of this type also exist in the literature, including work by Sahlholm et al [11] [12] [13] considering the learning of road gradient profile over multiple passes along the same route by heavy duty vehicles. Recursive Least Squares methods are common for estimation of multiple parameters, for instance, Vahidi [14] estimates road gradient and mass simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Simulation of Rapidly Changing Road Gradients

Wragge-Morley¹,

Herrmann²,

Burgess³

et al. 2016

SAE Int. J. Passeng. Cars - Mech. Syst.

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In vehicle dynamics modelling, the road profile is generally treated in one of two ways; either the gradient is a property that changes over a length scale far greater than that of the vehicle's wheelbase, or as a very detailed road surface model for determining the behaviour of vehicle suspensions. Occasionally, for modelling the behaviour of off-road vehicles, step-climbing manoeuvres are modelled. We propose an extension of these step-climbing models to a general, continuously varying road gradient model for cases where the distance over which the large gradient change occurs are of similar length-scale as the vehicle wheelbase. The motivation behind this work comes from a road gradient and vehicle mass estimation problem where it was noticed that very sudden gradient changes have a significant impact on the powertrain, but in a way that is not proportional to the attitude change of the vehicle. We present an analysis applicable to these cases where the road gradient change is substantially different from the vehicle attitude change. The analysis is built up from a very basic step climbing exercise to a general case solution for two dimensional longitudinal vehicle dynamics. Methods of handling road gradient and gradient change for modelling purposes are discussed. A method is proposed that defines the gradient change as an input to a backwards dynamic model that allows us to compute torque required to achieve a pre-defined datum speed during a gradient transition. The results of simulations for simple gradient change cases are shown. We discuss the implication of these road gradient transients for vehicle parameter estimation based on powertrain behaviour.

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“…These attributes of the look-ahead system also benefits the maintenance cost of the vehicle. Several look-ahead methods have already been proposed, see [3,4,10,11].…”

Section: Introductionmentioning

confidence: 99%

“…These attributes of the look-ahead system also benefits the maintenance cost of the vehicle. Several look-ahead methods have already been proposed, see [3,4,10,11].The speed proposed by the look-ahead control system can differ from the speed which is natural for a human driver. The driver's speed selection depends on limited and inaccurate visual information about the oncoming road.…”

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confidence: 99%

Enhancement of Driver Speed Based on Multi-Criteria Optimization

Mihály

Németh

Gáspár

2013

Per. Pol. Transp. Eng.

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The paper focuses on the design of an adaptive cruise control system which follows the behavior of the driver besides the optimization of longitudinal energy and fuel consumption. IntroductionConventional cruise control systems which are able to maintain steady speed have been used in the automotive industry for several decades. These systems can maintain steady speed by adjusting the propulsion force acting on the vehicle, i.e modifying the throttle status according to the disturbance acting on the vehicle. Among today's middle and premium category vehicles adaptive cruise control systems which are able to follow the preceding vehicle in a driver defined safe distance are becoming increasingly widespread. These systems use radar sensors to observe the traffic, and the intervention of the brake system is also required.In the paper a look-ahead control method for the design of the vehicle's speed is applied, in which the road inclinations and speed limits are taken into consideration, see [9]. In this method information about the current and oncoming road sections such as speed limits and road slopes are required. With the consideration of road information the selected speed can be in coherence with the oncoming road, thus speed can be reduced in advance of a slope or a speed limit. By selecting an optimal speed for the vehicle unnecessary accelerations and brakings can be reduced. This results in moderated energy and fuel consumption and in addition, the wearing of the brake system is also reduced. These attributes of the look-ahead system also benefits the maintenance cost of the vehicle. Several look-ahead methods have already been proposed, see [3,4,10,11].The speed proposed by the look-ahead control system can differ from the speed which is natural for a human driver. The driver's speed selection depends on limited and inaccurate visual information about the oncoming road. The driver's behavior in term of velocity selection is depending on instantaneous effects, such as disturbances acting on the vehicle, the traffic situations etc.The paper focuses on a multi-criteria look-ahead control design considering objectives such as the minimization of energy and consumption as well as the incorporation of the driver behavior. The results of the design are validated in a CarSim simulation environment. This paper is organized as follows. In Section 2 a speed

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Road grade estimation for look-ahead vehicle control using multiple measurement runs

Cited by 109 publications

References 17 publications

Piecewise Linear Road Grade Estimation

Piecewise Linear Road Grade Estimation

Modelling and Simulation of Rapidly Changing Road Gradients

Enhancement of Driver Speed Based on Multi-Criteria Optimization

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