A multi-level estimation of road condition using an adaptive observer combined with periodical σ-modification

H. Nishira; T. Kawabe; S. Shin

doi:10.1109/IECON.2000.972623

A multi-level estimation of road condition using an adaptive observer combined with periodical σ-modification

H. Nishira, T. Kawabe, S. Shin

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

A method that is designed to distinguish the road condition from several prespecified candidates is proposed in this paper. Although the method allows a systematic design procedure on the basts of a vehicle dynamical model, the method ts not. intended to provide an exact estimation, but to improve robustness against moileling error. A road condition ts characterized by two parameters, and they are estimated by a gradient-based adaptive law combined with periodical σ-modification, which, plays an essential role in multilevel estimation and robustness against modeling error. Field test data of four defferent road condit ions are applied to the proposed algorithm, and it successfully distinguishes the road condition only by prevalent sensors.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Publisher	IEEE Computer Society
Pages	2237-2242
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2000.972623
Publication status	Published - Jan 1 2000
Externally published	Yes

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	1

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2000.972623

Cite this

A multi-level estimation of road condition using an adaptive observer combined with periodical σ-modification. / Nishira, H.; Kawabe, T.; Shin, S.
IECON Proceedings (Industrial Electronics Conference). IEEE Computer Society, 2000. p. 2237-2242 972623 (IECON Proceedings (Industrial Electronics Conference); Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - A method that is designed to distinguish the road condition from several prespecified candidates is proposed in this paper. Although the method allows a systematic design procedure on the basts of a vehicle dynamical model, the method ts not. intended to provide an exact estimation, but to improve robustness against moileling error. A road condition ts characterized by two parameters, and they are estimated by a gradient-based adaptive law combined with periodical σ-modification, which, plays an essential role in multilevel estimation and robustness against modeling error. Field test data of four defferent road condit ions are applied to the proposed algorithm, and it successfully distinguishes the road condition only by prevalent sensors.

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A multi-level estimation of road condition using an adaptive observer combined with periodical σ-modification

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