Simultaneous Estimation of Vehicle Roll and Sideslip Angles through a Deep Learning Approach

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Show simple item record Prieto González, Lisardo Sanz Sánchez, Susana García Guzmán, Javier López Boada, María Jesús López Boada, Beatriz 2021-09-01T09:21:42Z 2021-09-01T09:21:42Z 2020-07-01
dc.identifier.bibliographicCitation González, L. P., Sánchez, S. S., Garcia-Guzman, J., Boada, M. J. L. & Boada, B. L. (2020). Simultaneous Estimation of Vehicle Roll and Sideslip Angles through a Deep Learning Approach. Sensors, 20(13), 3679.
dc.identifier.issn 1424-8220
dc.description.abstract Presently, autonomous vehicles are on the rise and are expected to be on the roads in the coming years. In this sense, it becomes necessary to have adequate knowledge about its states to design controllers capable of providing adequate performance in all driving scenarios. Sideslip and roll angles are critical parameters in vehicular lateral stability. The later has a high impact on vehicles with an elevated center of gravity, such as trucks, buses, and industrial vehicles, among others, as they are prone to rollover. Due to the high cost of the current sensors used to measure these angles directly, much of the research is focused on estimating them. One of the drawbacks is that vehicles are strong non-linear systems that require specific methods able to tackle this feature. The evolution in Artificial Intelligence models, such as the complex Artificial Neural Network architectures that compose the Deep Learning paradigm, has shown to provide excellent performance for complex and non-linear control problems. In this paper, the authors propose an inexpensive but powerful model based on Deep Learning to estimate the roll and sideslip angles simultaneously in mass production vehicles. The model uses input signals which can be obtained directly from onboard vehicle sensors such as the longitudinal and lateral accelerations, steering angle and roll and yaw rates. The model was trained using hundreds of thousands of data provided by Trucksim® and validated using data captured from real driving maneuvers using a calibrated ground truth device such as VBOX3i dual-antenna GPS from Racelogic®. The use of both Trucksim® software and the VBOX measuring equipment is recognized and widely used in the automotive sector, providing robust data for the research shown in this article.
dc.description.sponsorship This work was supported by the Agencia Estatal de Investigacion (EAI) of the Ministry of Science and Innovation of the Government of Spain through the project RTI2018-095143-B-C21.
dc.format.extent 18
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2020 by the authors.
dc.rights Atribución 3.0 España
dc.subject.other Sensor fusion
dc.subject.other Deep learning based estimator
dc.subject.other Vehicle dynamics
dc.subject.other Roll angle
dc.subject.other Sideslip angle
dc.title Simultaneous Estimation of Vehicle Roll and Sideslip Angles through a Deep Learning Approach
dc.type article
dc.subject.eciencia Ingeniería Mecánica
dc.rights.accessRights openAccess
dc.relation.projectID Gobierno de España. RTI2018-095143-B-C21
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 3679
dc.identifier.publicationissue 13
dc.identifier.publicationtitle Sensors
dc.identifier.publicationvolume 20
dc.identifier.uxxi AR/0000025587
dc.contributor.funder Ministerio de Ciencia e Innovación (España)
dc.affiliation.dpto UC3M. Departamento de Ingeniería Mecánica
dc.affiliation.grupoinv UC3M. Grupo de Investigación: MECATRAN: Mecánica Experimental, Cálculo y Transportes
dc.affiliation.area UC3M. Área de Ingeniería Mecánica
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