Autonomous Vehicle Kinematics and Dynamics Synthesis for Sideslip Angle Estimation Based on Consensus Kalman Filter

• Published in: IEEE transactions on control systems technology Vol. 31; no. 1; pp. 179 - 192
• Main Authors: Xia, Xin, Hashemi, Ehsan, Xiong, Lu, Khajepour, Amir
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.01.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accuracy; Algorithms; Autonomous vehicle navigation; Autonomous vehicles; consensus Kalman filter (CKF); Driving conditions; Error analysis; Estimation; Global navigation satellite system; Inertial navigation; Kalman filters; Kinematics; Lane changing; Lidar; Measurement uncertainty; Navigation systems; Observability (systems); Observers; Reliability aspects; Sideslip; sideslip estimation; state estimation; State observers; Synthesis; Vehicle dynamics; Velocity; Velocity errors; Velocity measurement
• ISSN: 1063-6536; 1558-0865
• DOI: 10.1109/TCST.2022.3174511

An autonomous vehicle sideslip angle estimation algorithm is proposed based on consensus and vehicle kinematics/ dynamics synthesis. Based on the velocity error measurements between the reduced Inertial Navigation System (R-INS) and the global navigation satellite system (GNSS), a velocity-based Kalman filter is formalized to estimate the velocity errors, attitude errors, and gyro bias errors of the R-INS. The observability issue of the heading error, which affects sideslip estimation, is analyzed. Then, to enhance the observability and improve the estimation accuracy of the heading error under normal driving conditions, a consensus Kalman information filter is developed to synthesize the vehicle kinematics and dynamics and estimate the heading error. Within the developed consensus framework, one node augments a novel heading error measurement from a linear vehicle-dynamic-based sideslip estimator and another node adopts the heading error from the GNSS course. Next, based on the vehicle lateral excitation level, a weighting scheme is proposed to fuse the error state estimates from the velocity-based and consensus Kalman state observers. The stability of the proposed state observers is also investigated. Comprehensive experimental studies, including critical slalom, slight/normal double lane change, and normal driving maneuvers, were conducted to verify the proposed estimation framework; they confirm the reliability and accuracy of the estimator in various automated driving conditions even in comparison with state-of-the-art methods that utilize more measurements (dual-antenna GNSS). Also, this novel multisensor framework is extendable to leverage speed information from other sensors such as cameras and light detection and ranging (LiDAR) to increase reliability and accuracy.