[ { "key": "ZGNJNDJF", "version": 20, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/ZGNJNDJF", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/ZGNJNDJF", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "González et al.", "parsedDate": "2011-10", "numChildren": 0 }, "data": { "key": "ZGNJNDJF", "version": 20, "itemType": "journalArticle", "title": "Robust tube-based predictive control for mobile robots in off-road conditions", "creators": [ { "creatorType": "author", "firstName": "Ramón", "lastName": "González" }, { "creatorType": "author", "firstName": "Mirko", "lastName": "Fiacchini" }, { "creatorType": "author", "firstName": "José Luis", "lastName": "Guzmán" }, { "creatorType": "author", "firstName": "Teodoro", "lastName": "Álamo" }, { "creatorType": "author", "firstName": "Francisco", "lastName": "Rodríguez" } ], "abstractNote": "This paper focuses on the design of a tube-based Model Predictive Control law for the control of constrained mobile robots in off-road conditions with longitudinal slip while ensuring robustness and stability. A time-varying trajectory tracking error model is used, where uncertainties are assumed to be bounded and additive. The robust tube-based MPC is compared with other motion control techniques through simulation and physical experiments. These tests show the satisfactory behavior of the presented control strategy.", "publicationTitle": "Robotics and Autonomous Systems", "publisher": "", "place": "", "date": "October 2011", "volume": "59", "issue": "10", "section": "", "partNumber": "", "partTitle": "", "pages": "711-726", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Robotics and Autonomous Systems", "DOI": "10.1016/j.robot.2011.05.006", "citationKey": "", "url": "http://www.sciencedirect.com/science/article/pii/S092188901100090X", "accessDate": "2014-03-24T19:33:35Z", "PMID": "", "PMCID": "", "ISSN": "0921-8890", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "ScienceDirect", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Autonomous mobile robot", "type": 1 }, { "tag": "Robustness", "type": 1 }, { "tag": "Slip", "type": 1 }, { "tag": "model predictive control", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T19:33:35Z", "dateModified": "2014-03-24T19:33:35Z" } }, { "key": "33F3VCDN", "version": 19, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/33F3VCDN", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/33F3VCDN", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Montazeri et al.", "parsedDate": "2012", "numChildren": 0 }, "data": { "key": "33F3VCDN", "version": 19, "itemType": "journalArticle", "title": "Driving segment simulation for determination of the most effective driving features for HEV intelligent control", "creators": [ { "creatorType": "author", "firstName": "Morteza", "lastName": "Montazeri" }, { "creatorType": "author", "firstName": "Abbas", "lastName": "Fotouhi" }, { "creatorType": "author", "firstName": "Akbar", "lastName": "Naderpour" } ], "abstractNote": "This paper presents a methodological approach for determination of the most effective driving features for hybrid electric vehicle intelligent control, using the driving segment simulation. In this approach, driving data gathering is first performed in real traffic conditions using Advanced Vehicle Locator systems. The vehicle's speed time series are then divided into small segments. Subsequently, 19 driving features are defined for each driving segment, and the influence of the driving features on the vehicle's fuel consumption (FC) and exhaust emissions is investigated, using driving the driving segment simulation. The simulation approach is also verified by experimental test. Finally, the driving features are ranked by a new approach based on the definition of an effectiveness index and a correlation analysis. The results demonstrate that the velocity-dependent driving features such as ‘energy’, ‘mean of velocity’, ‘displacement’ and ‘maximum velocity’ are more effective on vehicle's FC and exhaust emissions. However, because of high dependency between these features, this study suggests independent driving features among the most effective driving features.", "publicationTitle": "Vehicle System Dynamics", "publisher": "", "place": "", "date": "2012", "volume": "50", "issue": "2", "section": "", "partNumber": "", "partTitle": "", "pages": "", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "", "DOI": "10.1080/00423114.2011.577898", "citationKey": "", "url": "", "accessDate": "", "PMID": "", "PMCID": "", "ISSN": "0042-3114", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "Primo", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Correlation Analysis", "type": 1 }, { "tag": "Driving Feature", "type": 1 }, { "tag": "Exhaust Emission", "type": 1 }, { "tag": "Fuel Consumption", "type": 1 }, { "tag": "Hybrid electric vehicle", "type": 1 }, { "tag": "Simulation", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T19:29:45Z", "dateModified": "2014-03-24T19:29:45Z" } }, { "key": "4PJR59VR", "version": 18, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/4PJR59VR", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/4PJR59VR", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Cipek et al.", "parsedDate": "2013-01", "numChildren": 0 }, "data": { "key": "4PJR59VR", "version": 18, "itemType": "journalArticle", "title": "A control-oriented simulation model of a power-split hybrid electric vehicle", "creators": [ { "creatorType": "author", "firstName": "Mihael", "lastName": "Cipek" }, { "creatorType": "author", "firstName": "Danijel", "lastName": "Pavković" }, { "creatorType": "author", "firstName": "Joško", "lastName": "Petrić" } ], "abstractNote": "A simulation model of a two mode power-split hybrid electric vehicle (HEV) is proposed in this paper for the purpose of HEV dynamics analysis and control system design. The bond graph methodology is used to model dominant dynamic effects of the mechanical part of the HEV transmission. Simple quasi-static battery model, the environment model, the tire and the power losses model of a vehicle are included, as well. A low-level electric generator speed control loop is designed, which includes a PI controller tuned according to the symmetrical optimum tuning procedure. Finally, off-line optimization by conjugate gradient-based BPTT-like optimal control algorithm, which is based on the presented mathematical model, is also given in the paper.", "publicationTitle": "Applied Energy", "publisher": "", "place": "", "date": "January 2013", "volume": "101", "issue": "", "section": "", "partNumber": "", "partTitle": "", "pages": "121-133", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Applied Energy", "DOI": "10.1016/j.apenergy.2012.07.006", "citationKey": "", "url": "http://www.sciencedirect.com/science/article/pii/S0306261912005181", "accessDate": "2014-03-24T19:27:54Z", "PMID": "", "PMCID": "", "ISSN": "0306-2619", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "ScienceDirect", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Control", "type": 1 }, { "tag": "Hybrid electric vehicle", "type": 1 }, { "tag": "Modeling", "type": 1 }, { "tag": "Power-split transmission", "type": 1 }, { "tag": "Simulation", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T19:27:54Z", "dateModified": "2014-03-24T19:27:54Z" } }, { "key": "4ZMID4JP", "version": 17, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/4ZMID4JP", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/4ZMID4JP", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Bae and Gerdes", "parsedDate": "2004-12-01", "numChildren": 0 }, "data": { "key": "4ZMID4JP", "version": 17, "itemType": "journalArticle", "title": "Command Modification Using Input Shaping for Automated Highway Systems with Heavy Trucks", "creators": [ { "creatorType": "author", "firstName": "Hong S.", "lastName": "Bae" }, { "creatorType": "author", "firstName": "J. Christian", "lastName": "Gerdes" } ], "abstractNote": "Automated vehicles require sufficiently accurate system models in order to achieve a desired level of closed-loop performance in, for example, automated highways systems or smart cruise control systems. Parameters of the models are one of the important factors that determine the accuracy of system modeling and, eventually, the overall performance of the closed-loop system. Current GPS sensing technology enables estimation of road grade and, consequently, simple treatment of parameter estimation from a static force balance. This work has demonstrated that road grade can be reliably estimated using synchronized two antennae GPS system or the vertical to horizontal velocity ratio from GPS speed measurements. While both methods provide similar performance in road grade estimation with comparable errors, the velocity-ratio based, single-antenna system is a better choice since it is more economical to implement than two-antenna system. Accurate estimation of road grade enables the estimations of other important vehicle parameters. With reliable and accurate road grade estimates and the assumption of low frequency dynamics, the vehicle mass estimates have been shown to converge quickly within 2% and 5% of the measured values for a passenger car and a heavy truck, respectively. This work also presented a new method for maintaining and improving string stability by preventing actuator saturation in automated vehicles on highways. Instead of relying on feedback controllers to deal with the issue of actuator saturation after the fact, reference commands are fed through an FIR filter called an input shaper so that harmful components in the reference commands are reduced or removed. Input shaping is a command modification technique in which a reference command to a system is modified or shaped through convolution with an FIR filter. Original (unmodified) reference signals are passed through the input shaper and the shaped (modified) signals are then fed to the system. The purpose of this modification is to remove frequency content from the reference command that can produce oscillations in the closed-loop system due to lightly damped, flexible modes. With properly chosen impulses, the effect can be very significant.", "publicationTitle": "California Partners for Advanced Transit and Highways (PATH)", "publisher": "", "place": "", "date": "2004-12-01", "volume": "", "issue": "", "section": "", "partNumber": "", "partTitle": "", "pages": "", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "", "DOI": "", "citationKey": "", "url": "http://www.escholarship.org/uc/item/1tv3z496#page-5", "accessDate": "2014-03-24T17:44:36Z", "PMID": "", "PMCID": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "www.escholarship.org", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Advanced Vehicle Control Systems", "type": 1 }, { "tag": "Automated Highway Systems", "type": 1 }, { "tag": "Global positioning systems", "type": 1 }, { "tag": "Intelligent Vehicle Highway Systems", "type": 1 }, { "tag": "Longitudinal Control", "type": 1 }, { "tag": "Vehicle Follower control", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:44:36Z", "dateModified": "2014-03-24T17:44:36Z" } }, { "key": "FBKRMBCA", "version": 16, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/FBKRMBCA", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/FBKRMBCA", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "McIntyre et al.", "parsedDate": "2009-09", "numChildren": 0 }, "data": { "key": "FBKRMBCA", "version": 16, "itemType": "journalArticle", "title": "A Two-Stage Lyapunov-Based Estimator for Estimation of Vehicle Mass and Road Grade", "creators": [ { "creatorType": "author", "firstName": "M.L.", "lastName": "McIntyre" }, { "creatorType": "author", "firstName": "T.J.", "lastName": "Ghotikar" }, { "creatorType": "author", "firstName": "A.", "lastName": "Vahidi" }, { "creatorType": "author", "firstName": "Xubin", "lastName": "Song" }, { "creatorType": "author", "firstName": "D.M.", "lastName": "Dawson" } ], "abstractNote": "This work proposes a two-stage estimation strategy to determine a heavy-duty vehicle's mass and road grade. The estimation strategy uses standard signals available through the vehicle control area network. The first stage of this approach utilizes an adaptive least-squares estimation strategy to determine the vehicle's mass and an estimate for a constant road grade. Due to the time-varying nature of the road grade, a nonlinear estimator that provides a more-accurate estimate of the road grade is then developed. Simulation and experimental results show, under a set of qualifying conditions, that both mass and road grade can be estimated with good accuracy.", "publicationTitle": "IEEE Transactions on Vehicular Technology", "publisher": "", "place": "", "date": "Sept 2009", "volume": "58", "issue": "7", "section": "", "partNumber": "", "partTitle": "", "pages": "3177-3185", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "", "DOI": "10.1109/TVT.2009.2014385", "citationKey": "", "url": "", "accessDate": "", "PMID": "", "PMCID": "", "ISSN": "0018-9545", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "IEEE Xplore", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Least squares methods", "type": 1 }, { "tag": "Lyapunov methods", "type": 1 }, { "tag": "Lyapunov-based estimator", "type": 1 }, { "tag": "Mass estimation", "type": 1 }, { "tag": "least mean squares methods", "type": 1 }, { "tag": "least-squares estimation strategy", "type": 1 }, { "tag": "nonlinear control systems", "type": 1 }, { "tag": "nonlinear estimation", "type": 1 }, { "tag": "nonlinear estimator", "type": 1 }, { "tag": "road grade estimation", "type": 1 }, { "tag": "road vehicle", "type": 1 }, { "tag": "road vehicles", "type": 1 }, { "tag": "time-varying nature", "type": 1 }, { "tag": "time-varying systems", "type": 1 }, { "tag": "vehicle control area network", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:42:20Z", "dateModified": "2014-03-24T17:42:20Z" } }, { "key": "KX2FP77N", "version": 15, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/KX2FP77N", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/KX2FP77N", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Won et al.", "parsedDate": "2001-09-01", "numChildren": 0 }, "data": { "key": "KX2FP77N", "version": 15, "itemType": "journalArticle", "title": "Test bed for vehicle longitudinal control using chassis dynamometer and virtual reality: An application to adaptive cruise control", "creators": [ { "creatorType": "author", "firstName": "Mooncheol", "lastName": "Won" }, { "creatorType": "author", "firstName": "Sung Soo", "lastName": "Kim" }, { "creatorType": "author", "firstName": "Byeong Bae", "lastName": "Kang" }, { "creatorType": "author", "firstName": "Hyuck Jin", "lastName": "Jung" } ], "abstractNote": "In this study, a test bed for vehicle longitudinal control is developed using a chassis dynamometer and real time 3-D graphics. The proposed test bed system consist of a chassis dynamometer on which test vehicle can run longitudinally, a video system that shows virtual driver view, and computer that control the test vehicle and realize the real time 3-D graphics. The purpose of the proposed system is to test vehicle longitudinal control and warning algorithms such as Adaptive Cruise Control (ACC), stop and go systems, and collision warning systems. For acceleration and deceleration situations which only need throttle movements, a vehicle longitudinal spacing control algorithm has been tested on the test bed. The spacing control algorithm has been designed based on sliding mode control and road grade estimation scheme which utilizes the vehicle engine torque map and gear shift information.", "publicationTitle": "KSME International Journal", "publisher": "", "place": "", "date": "2001/09/01", "volume": "15", "issue": "9", "section": "", "partNumber": "", "partTitle": "", "pages": "1248-1256", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "KSME International Journal", "DOI": "10.1007/BF03185665", "citationKey": "", "url": "http://link.springer.com/article/10.1007/BF03185665", "accessDate": "2014-03-24T17:40:46Z", "PMID": "", "PMCID": "", "ISSN": "1738-494X", "archive": "", "archiveLocation": "", "shortTitle": "Test bed for vehicle longitudinal control using chassis dynamometer and virtual reality", "language": "en", "libraryCatalog": "link.springer.com", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "3-D Real Time Graphics", "type": 1 }, { "tag": "ACC (Adaptive Cruise Control)", "type": 1 }, { "tag": "Chassis Dynamometer", "type": 1 }, { "tag": "ETC (Electronic Throttle Control)", "type": 1 }, { "tag": "Estimation Algorithm", "type": 1 }, { "tag": "Industrial and Production Engineering", "type": 1 }, { "tag": "Mechanical Engineering", "type": 1 }, { "tag": "Sliding Mode Control", "type": 1 }, { "tag": "Vibration, Dynamical Systems, Control", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:40:46Z", "dateModified": "2014-03-24T17:40:46Z" } }, { "key": "VS5Q7KI3", "version": 14, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/VS5Q7KI3", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/VS5Q7KI3", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Zhao et al.", "parsedDate": "2009-06", "numChildren": 0 }, "data": { "key": "VS5Q7KI3", "version": 14, "itemType": "conferencePaper", "title": "Sliding mode observer for vehicle velocity estimation with road grade and bank angles adaptation", "creators": [ { "creatorType": "author", "firstName": "Lin-Hui", "lastName": "Zhao" }, { "creatorType": "author", "firstName": "Zhi-Yuan", "lastName": "Liu" }, { "creatorType": "author", "firstName": "Hong", "lastName": "Chen" } ], "abstractNote": "Vehicle velocity estimation is essential for the enhancement of safety, especially for yaw stabilization systems. This paper proposes a sliding mode observer (SMO) for longitudinal and lateral velocities estimation on non-flat road based on Dugoff's tire model and nonlinear vehicle dynamics. The road grade and bank angles are considered as unknown inputs, which are reconstructed from their corresponding sliding modes by using the SMO. The stability of the SMO and robustness with respect to additive disturbances are analyzed with the help of input-to-state stability (ISS) theory. The SMO is evaluated in comparison with a nonlinear observer without road angle compensation, and its performance and robustness is validated using vehicle simulator software veDYNA under a variety of maneuvers and road conditions.", "proceedingsTitle": "2009 IEEE Intelligent Vehicles Symposium", "conferenceName": "2009 IEEE Intelligent Vehicles Symposium", "publisher": "", "place": "", "date": "June 2009", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "701-706", "series": "", "seriesNumber": "", "DOI": "10.1109/IVS.2009.5164362", "ISBN": "", "citationKey": "", "url": "", "accessDate": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "IEEE Xplore", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Dugoff tire model", "type": 1 }, { "tag": "Friction", "type": 1 }, { "tag": "Road grade", "type": 1 }, { "tag": "Robust stability", "type": 1 }, { "tag": "Robustness", "type": 1 }, { "tag": "Stability", "type": 1 }, { "tag": "Stability analysis", "type": 1 }, { "tag": "Tires", "type": 1 }, { "tag": "Vehicle safety", "type": 1 }, { "tag": "additive disturbances", "type": 1 }, { "tag": "bank angles adaptation", "type": 1 }, { "tag": "control engineering computing", "type": 1 }, { "tag": "input-to-state stability theory", "type": 1 }, { "tag": "lateral velocities estimation", "type": 1 }, { "tag": "longitudinal velocities estimation", "type": 1 }, { "tag": "nonflat road", "type": 1 }, { "tag": "nonlinear control systems", "type": 1 }, { "tag": "nonlinear observer", "type": 1 }, { "tag": "nonlinear vehicle dynamics", "type": 1 }, { "tag": "observers", "type": 1 }, { "tag": "road safety", "type": 1 }, { "tag": "road vehicles", "type": 1 }, { "tag": "sliding mode observer", "type": 1 }, { "tag": "variable structure systems", "type": 1 }, { "tag": "vehicle dynamics", "type": 1 }, { "tag": "vehicle simulator software veDYNA", "type": 1 }, { "tag": "vehicle velocity estimation", "type": 1 }, { "tag": "yaw stabilization systems", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:39:38Z", "dateModified": "2014-03-24T17:39:38Z" } }, { "key": "823R7IWJ", "version": 13, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/823R7IWJ", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/823R7IWJ", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Kim et al.", "parsedDate": "2013-12-01", "numChildren": 0 }, "data": { "key": "823R7IWJ", "version": 13, "itemType": "journalArticle", "title": "Development of estimation algorithms for vehicle’s mass and road grade", "creators": [ { "creatorType": "author", "firstName": "I.", "lastName": "Kim" }, { "creatorType": "author", "firstName": "H.", "lastName": "Kim" }, { "creatorType": "author", "firstName": "J.", "lastName": "Bang" }, { "creatorType": "author", "firstName": "K.", "lastName": "Huh" } ], "abstractNote": "In controlling the longitudinal motion of electrified vehicles such as hybrid vehicles and PHEV (Plug-in Hybrid Electric Vehicles), the variation of the driving resistance loads (or driving loads) such as road grade and actual vehicle mass, is the most influential factor which limits the control performance. Measuring the driving load is not impossible, but it is costly since additional sensors have to be mounted on the vehicle. In this study, methods for estimating vehicle mass and road grade are designed to compensate for the driving loads. The proposed methods are verified using simulation tools and then evaluated experimentally.", "publicationTitle": "International Journal of Automotive Technology", "publisher": "", "place": "", "date": "2013/12/01", "volume": "14", "issue": "6", "section": "", "partNumber": "", "partTitle": "", "pages": "889-895", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Int.J Automot. Technol.", "DOI": "10.1007/s12239-013-0097-9", "citationKey": "", "url": "http://link.springer.com/article/10.1007/s12239-013-0097-9", "accessDate": "2014-03-24T17:22:07Z", "PMID": "", "PMCID": "", "ISSN": "1229-9138, 1976-3832", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "en", "libraryCatalog": "link.springer.com", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Automotive engineering", "type": 1 }, { "tag": "Longitudinal/lateral dynamics", "type": 1 }, { "tag": "Mass estimation", "type": 1 }, { "tag": "RLS(Recursive Least Square)", "type": 1 }, { "tag": "Road grade", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:22:07Z", "dateModified": "2014-03-24T17:22:07Z" } }, { "key": "3GZWGH29", "version": 12, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/3GZWGH29", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/3GZWGH29", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Winstead and Kolmanovsky", "parsedDate": "2005-08", "numChildren": 0 }, "data": { "key": "3GZWGH29", "version": 12, "itemType": "conferencePaper", "title": "Estimation of road grade and vehicle mass via model predictive control", "creators": [ { "creatorType": "author", "firstName": "V.", "lastName": "Winstead" }, { "creatorType": "author", "firstName": "I.V.", "lastName": "Kolmanovsky" } ], "abstractNote": "The paper develops an active on-line estimation scheme for road grade and vehicle mass of an automotive vehicle. The scheme combines an extended Kalman filter (EKF) to generate on-line parameter estimates and a model predictive controller (MPC) to control vehicle speed trajectory so that to enhance parameter identifiability. For the latter purpose a receding horizon optimization of a cost function which penalizes a predicted variance of the parameter estimates as well as the deviation of the vehicle speed from the desired value. Uncertainties in engine torque delivery can be accounted for with this approach and probabilistic constraints on vehicle speed to maintain vehicle operation within traffic limits can be enforced. A simulation example for a typical mid-size vehicle is reported", "proceedingsTitle": "Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005", "conferenceName": "Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005", "publisher": "", "place": "", "date": "August 2005", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "1588-1593", "series": "", "seriesNumber": "", "DOI": "10.1109/CCA.2005.1507359", "ISBN": "", "citationKey": "", "url": "", "accessDate": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "IEEE Xplore", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Automotive engineering", "type": 1 }, { "tag": "Engines", "type": 1 }, { "tag": "Kalman filters", "type": 1 }, { "tag": "Predictive models", "type": 1 }, { "tag": "Torque", "type": 1 }, { "tag": "Trajectory", "type": 1 }, { "tag": "Uncertainty", "type": 1 }, { "tag": "automotive vehicle", "type": 1 }, { "tag": "cost function", "type": 1 }, { "tag": "engine torque", "type": 1 }, { "tag": "extended Kalman filter", "type": 1 }, { "tag": "model predictive control", "type": 1 }, { "tag": "model predictive controller", "type": 1 }, { "tag": "nonlinear filters", "type": 1 }, { "tag": "online parameter estimation", "type": 1 }, { "tag": "optimisation", "type": 1 }, { "tag": "optimization", "type": 1 }, { "tag": "parameter estimation", "type": 1 }, { "tag": "parameter identification", "type": 1 }, { "tag": "predictive control", "type": 1 }, { "tag": "probabilistic constraint", "type": 1 }, { "tag": "road grade estimation", "type": 1 }, { "tag": "road vehicles", "type": 1 }, { "tag": "vehicle mass estimation", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:13:15Z", "dateModified": "2014-03-24T17:13:15Z" } }, { "key": "9VKK56EU", "version": 11, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/9VKK56EU", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/9VKK56EU", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Ryan et al.", "parsedDate": "2009-10", "numChildren": 0 }, "data": { "key": "9VKK56EU", "version": 11, "itemType": "conferencePaper", "title": "Robust sideslip estimation using GPS road grade sensing to replace a pitch rate sensor", "creators": [ { "creatorType": "author", "firstName": "J.", "lastName": "Ryan" }, { "creatorType": "author", "firstName": "D.", "lastName": "Bevly" }, { "creatorType": "author", "firstName": "Jianbo", "lastName": "Lu" } ], "abstractNote": "This paper analyzes a promising method of road grade estimation for its potential use in aiding ground vehicle electronic stability control systems. The method in question incorporates GPS and motion sensors into a basic Kalman Filter model to achieve clean, high update estimates of the vertical and longitudinal velocity states from which the grade can be easily calculated. The knowledge of road grade is incorporated into a sideslip estimation scheme, replacing the pitch rate sensor, and the improvement in the sideslip estimate is evaluated. Simulated results are shown, as are results from using experimental data comparing this sideslip estimate with one obtained which utilizes the pitch rate gyro.", "proceedingsTitle": "IEEE International Conference on Systems, Man and Cybernetics, 2009. SMC 2009", "conferenceName": "IEEE International Conference on Systems, Man and Cybernetics, 2009. SMC 2009", "publisher": "", "place": "", "date": "October 2009", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "2026-2031", "series": "", "seriesNumber": "", "DOI": "10.1109/ICSMC.2009.5346320", "ISBN": "", "citationKey": "", "url": "", "accessDate": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "IEEE Xplore", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Control systems", "type": 1 }, { "tag": "Filtering", "type": 1 }, { "tag": "GPS", "type": 1 }, { "tag": "GPS/INS", "type": 1 }, { "tag": "Global Positioning System", "type": 1 }, { "tag": "Kalman Filtering", "type": 1 }, { "tag": "Kalman filter", "type": 1 }, { "tag": "Kalman filters", "type": 1 }, { "tag": "Robustness", "type": 1 }, { "tag": "Sensor Reduction", "type": 1 }, { "tag": "Sensor systems", "type": 1 }, { "tag": "Sensors", "type": 1 }, { "tag": "Stability", "type": 1 }, { "tag": "State estimation", "type": 1 }, { "tag": "Vehicle State Estimation", "type": 1 }, { "tag": "Vehicles", "type": 1 }, { "tag": "ground vehicle electronic stability control systems", "type": 1 }, { "tag": "motion control", "type": 1 }, { "tag": "motion sensors", "type": 1 }, { "tag": "pitch rate sensor", "type": 1 }, { "tag": "road grade estimation", "type": 1 }, { "tag": "road grade sensing", "type": 1 }, { "tag": "road vehicles", "type": 1 }, { "tag": "roads", "type": 1 }, { "tag": "robust control", "type": 1 }, { "tag": "robust sideslip estimation", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:03:57Z", "dateModified": "2014-03-24T17:03:57Z" } }, { "key": "NZ5RBDE2", "version": 10, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/NZ5RBDE2", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/NZ5RBDE2", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Per", "parsedDate": "2007-08-20", "numChildren": 0 }, "data": { "key": "NZ5RBDE2", "version": 10, "itemType": "conferencePaper", "title": "A sensor and data fusion algorithm for road grade estimation", "creators": [ { "creatorType": "contributor", "firstName": "Hedrick,", "lastName": "J." }, { "creatorType": "contributor", "firstName": "Gerdes,", "lastName": "J." }, { "creatorType": "editor", "firstName": "Shaver,", "lastName": "Gregory" }, { "creatorType": "author", "firstName": "Sahlholm,", "lastName": "Per" } ], "abstractNote": "Emerging driver assistance systems, such as look-ahead cruise controllers for heavy duty vehicles, require high precision digital maps. This contribution presents a road grade estimation algorithm for fusion of GPS and vehicle real-time sensor data, with measurements from previous runs over the same road segment. The resulting road grade estimate is thus enhanced using measurements from additional traversals of known roads. Distributed data fusion is utilized to ensure that the storage requirement of known roads does not increase when additional measurements are processed. The implemented algorithm, which is based on extended Kalman filtering and smoothing, is described in detail. Experiments on a Scania test vehicle show the advantages and some of the challenges with the proposed approach.", "proceedingsTitle": "", "conferenceName": "", "publisher": "", "place": "", "date": "2007-08-20", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "55-62", "series": "", "seriesNumber": "", "DOI": "10.3182/20070820-3-US-2918.00010", "ISBN": "", "citationKey": "", "url": "http://www.ifac-papersonline.net/Detailed/39015.html", "accessDate": "2014-03-24T17:02:54Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "CrossRef", "callNumber": "", "rights": "", "extra": "", "tags": [], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:02:54Z", "dateModified": "2014-03-24T17:03:10Z" } }, { "key": "HJCTEV2M", "version": 9, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/HJCTEV2M", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/HJCTEV2M", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Sahlholm et al.", "numChildren": 0 }, "data": { "key": "HJCTEV2M", "version": 9, "itemType": "book", "title": "Road Grade Estimation Results Using Sensor and Data Fusion", "creators": [ { "creatorType": "author", "firstName": "Per", "lastName": "Sahlholm" }, { "creatorType": "author", "firstName": "Henrik", "lastName": "Jansson" }, { "creatorType": "author", "firstName": "Karl Henrik", "lastName": "Johansson" } ], "abstractNote": "Advanced driver assistance systems for heavy duty vehicles, such as lookahead cruise and gearshift controllers, rely on high quality map data. Current digital maps do not offer the required level of road grade information. This contribution presents an algorithm for on-board road grade estimation based on fusion of GPS and vehicle sensor data with measurements from previous runs over the same road segment. An incremental update scheme is utilized to ensure that data storage requirements are independent of the number of measurement runs. Results of the implemented system based on six traversals of a known road with three different vehicles are presented.", "series": "", "seriesNumber": "", "volume": "", "numberOfVolumes": "", "edition": "", "date": "", "publisher": "", "place": "", "originalDate": "", "originalPublisher": "", "originalPlace": "", "format": "", "numPages": "", "ISBN": "", "DOI": "", "citationKey": "", "url": "", "accessDate": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "CiteSeer", "callNumber": "", "rights": "", "extra": "", "tags": [], "collections": [], "relations": {}, "dateAdded": "2014-03-24T17:01:19Z", "dateModified": "2014-03-24T17:01:19Z" } }, { "key": "TJBCNUZX", "version": 7, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/TJBCNUZX", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/TJBCNUZX", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Sahlholm and Johansson", "parsedDate": "2010-12", "numChildren": 0 }, "data": { "key": "TJBCNUZX", "version": 7, "itemType": "conferencePaper", "title": "Segmented road grade estimation for fuel efficient heavy duty vehicles", "creators": [ { "creatorType": "author", "firstName": "P.", "lastName": "Sahlholm" }, { "creatorType": "author", "firstName": "K.H.", "lastName": "Johansson" } ], "abstractNote": "Long haulage road transport consumes considerable amounts of energy in today's world. Predictive control strategies based on digital maps can significantly lower the portion being wasted in traditional cruise control operated highway driving. Such control strategies rely on high quality stored road grade information. This paper describes a newly developed method to estimate the road grade using sensors commonly found on standard heavy duty vehicles. The method utilizes a piecewise linear road model derived from highway design methodologies. The estimation method has been implemented and evaluated experimentally, and is shown to give better results compared to an existing method.", "proceedingsTitle": "2010 49th IEEE Conference on Decision and Control (CDC)", "conferenceName": "2010 49th IEEE Conference on Decision and Control (CDC)", "publisher": "", "place": "", "date": "December 2010", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "1045-1050", "series": "", "seriesNumber": "", "DOI": "10.1109/CDC.2010.5717298", "ISBN": "", "citationKey": "", "url": "", "accessDate": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "IEEE Xplore", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Estimation", "type": 1 }, { "tag": "Global Positioning System", "type": 1 }, { "tag": "Predictive models", "type": 1 }, { "tag": "Sensors", "type": 1 }, { "tag": "Vehicles", "type": 1 }, { "tag": "digital maps", "type": 1 }, { "tag": "fuel economy", "type": 1 }, { "tag": "fuel efficient heavy duty vehicles", "type": 1 }, { "tag": "highway design", "type": 1 }, { "tag": "highway driving", "type": 1 }, { "tag": "long haulage road transport", "type": 1 }, { "tag": "predictive control", "type": 1 }, { "tag": "road vehicles", "type": 1 }, { "tag": "roads", "type": 1 }, { "tag": "segmented road grade estimation", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T16:57:48Z", "dateModified": "2014-03-24T16:57:48Z" } }, { "key": "SRW24BU3", "version": 6, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/SRW24BU3", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/SRW24BU3", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Zhang and Frey", "parsedDate": "2006", "numChildren": 0 }, "data": { "key": "SRW24BU3", "version": 6, "itemType": "journalArticle", "title": "Road Grade Estimation for On-Road Vehicle Emissions Modeling Using Light Detection and Ranging Data", "creators": [ { "creatorType": "author", "firstName": "Kaishan", "lastName": "Zhang" }, { "creatorType": "author", "firstName": "H. Christopher", "lastName": "Frey" } ], "abstractNote": "Abstract Vehicle–specific power (VSP) is useful for explaining a substantial portion of variability in real–world vehicle emissions, such as those measured with portable emissions monitoring systems (PEMS). VSP is a function of vehicle speed, acceleration, and road grade. Road grade is shown to significantly affect estimates of both VSP and of real–world emissions via sensitivity analysis and analysis of empirical data. However, road grade is difficult to measure reliably using PEMS. Therefore, alternative methods for estimating road grade were identified and compared. A preferred method for estimating road grade was explored in more detail based on light detection and ranging (LIDAR) data. The method includes buffering LIDAR data onto roadway maps using a geographic information system tool, defining segments of roadway based on criteria pertaining to vertical curvature, quantification of roadway elevations within the buffered segments, and estimation of road grade and banking by fitting a plane to each segment. Factors influencing errors in road grade estimates are discussed. The method was evaluated by application to selected interstate highways and comparison to design drawing data. The development and application of LIDAR–based road grade data are demonstrated via a case study using PEMS data collected in the Research Triangle Park, NC, area. LIDAR data are shown to be reliable and accurate for road grade estimation for vehicle emissions modeling.", "publicationTitle": "Journal of the Air & Waste Management Association", "publisher": "", "place": "", "date": "2006", "volume": "56", "issue": "6", "section": "", "partNumber": "", "partTitle": "", "pages": "", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "", "DOI": "10.1080/10473289.2006.10464500", "citationKey": "", "url": "", "accessDate": "", "PMID": "", "PMCID": "", "ISSN": "1096-2247", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "Primo", "callNumber": "", "rights": "", "extra": "", "tags": [], "collections": [], "relations": {}, "dateAdded": "2014-03-24T16:55:36Z", "dateModified": "2014-03-24T16:55:36Z" } }, { "key": "9X5PF24G", "version": 5, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/9X5PF24G", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/9X5PF24G", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "numChildren": 0 }, "data": { "key": "9X5PF24G", "version": 5, "itemType": "webpage", "title": "Piecewise Linear Road Grade Estimation", "creators": [], "abstractNote": "Emerging heavy duty vehicle control systems increasingly rely on advance knowledge of the road topography, described by the longitudinal road grade. Highway road grade\nprofiles 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\nlinear estimation through dynamic programming. The proposed method is demonstrated with on-road experiments. It is able to\nrepresent the road grade profile for two studied 15 km road sections, by 20 linear segments for each, with a root mean square error\nbetween 0.42 % and 0.55 % grade.", "websiteTitle": "", "websiteType": "", "date": "", "publisher": "", "place": "", "DOI": "", "citationKey": "", "url": "http://kth.diva-portal.org/smash/get/diva2:503216/FULLTEXT01", "accessDate": "2014-03-24T16:52:34Z", "shortTitle": "", "language": "", "rights": "", "extra": "", "tags": [], "collections": [], "relations": {}, "dateAdded": "2014-03-24T16:52:34Z", "dateModified": "2014-03-24T16:55:03Z" } }, { "key": "FUUNZTPF", "version": 2, "library": { "type": "group", "id": 255977, "name": "Road grade estimation for vehicle control", "links": { "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/255977/items/FUUNZTPF", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/road_grade_estimation_for_vehicle_control/items/FUUNZTPF", "type": "text/html" } }, "meta": { "createdByUser": { "id": 1261598, "username": "Bibliobomb", "name": "Alex Hernandez", "links": { "alternate": { "href": "https://www.zotero.org/bibliobomb", "type": "text/html" } } }, "creatorSummary": "Sahlholm and Henrik Johansson", "parsedDate": "2010-11", "numChildren": 0 }, "data": { "key": "FUUNZTPF", "version": 2, "itemType": "journalArticle", "title": "Road grade estimation for look-ahead vehicle control using multiple measurement runs", "creators": [ { "creatorType": "author", "firstName": "Per", "lastName": "Sahlholm" }, { "creatorType": "author", "firstName": "Karl", "lastName": "Henrik Johansson" } ], "abstractNote": "Look-ahead cruise controllers and other advanced driver assistance systems for heavy duty vehicles require high precision digital topographic road maps. This paper presents a road grade estimation algorithm for creation of such maps based on Kalman filter fusion of vehicle sensor data and GPS positioning information. The algorithm uses data from multiple passes over the same road to improve previously stored road grade estimates. Measurement data from three test vehicles and six experiments have been used to evaluate the quality of the obtained road grade estimate compared to a known reference. The obtained final grade estimate compares favorably to one acquired from a specialized road grade measurement vehicle with a DGPS receiver and inertial measurement unit, with an average root mean square error of 0.17% grade.", "publicationTitle": "Control Engineering Practice", "publisher": "", "place": "", "date": "November 2010", "volume": "18", "issue": "11", "section": "", "partNumber": "", "partTitle": "", "pages": "1328-1341", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Control Engineering Practice", "DOI": "10.1016/j.conengprac.2009.09.007", "citationKey": "", "url": "http://www.sciencedirect.com/science/article/pii/S0967066109001804", "accessDate": "2014-03-24T16:43:35Z", "PMID": "", "PMCID": "", "ISSN": "0967-0661", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "ScienceDirect", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "Automotive system identification and modeling", "type": 1 }, { "tag": "General automobile/road-environment strategies", "type": 1 }, { "tag": "Global positioning systems", "type": 1 }, { "tag": "Kalman filters", "type": 1 }, { "tag": "Road traffic", "type": 1 }, { "tag": "Sensor fusion", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2014-03-24T16:43:35Z", "dateModified": "2014-03-24T16:43:35Z" } } ]