Longitudinal Velocity Estimation of Driverless Vehicle by Fusing LiDAR and Inertial Measurement Unit

Longitudinal Velocity Estimation of Driverless Vehicle by Fusing LiDAR and Inertial Measurement Unit

Aiming at the problem that, under certain extreme conditions, relying on tire force or tire angular velocity to represent the longitudinal velocity of the unmanned vehicle will fail, this paper proposes a longitudinal velocity estimation method that fuses LiDAR and inertial measurement unit (IMU). F...

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Bibliographic Details
Main Authors: Chuanwei Zhang, Zhongyu Guo, Meng Dang
Format: Article
Language:English
Published: MDPI AG 2023-07-01
Series:World Electric Vehicle Journal
Subjects:
driverless vehicle
velocity estimation
unscented Kalman filter
information fusion
Online Access:https://www.mdpi.com/2032-6653/14/7/175

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