Tire Radii Estimation Using a Marginalized Particle Filter

  title={Tire Radii Estimation Using a Marginalized Particle Filter},
  author={Christian Lundquist and Rickard Karlsson and Emre {\"O}zkan and Fredrik Gustafsson},
  journal={IEEE Transactions on Intelligent Transportation Systems},
In this paper, the measurements of individual wheel speeds and the absolute position from a global positioning system are used for high-precision estimation of vehicle tire radii. The radii deviation from its nominal value is modeled as a Gaussian random variable and included as noise components in a simple vehicle motion model. The novelty lies in a Bayesian approach to estimate online both the state vector and the parameters representing the process noise statistics using a marginalized… CONTINUE READING


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