Papers for

automotive stability engineers

Papers whose findings have a practical use for this group, as judged from the abstract. Open a paper to read what it means in practice.

IMU based method estimates vehicle sideways motion accurately and robustly

IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions

Abstract: Accurate estimation of lateral vehicle dynamics near the adhesion limit is important for stability control and high-performance driving, but lateral velocity is rarely measured directly because sensors such as optical sensors are costly. This paper presents an inertial measurement unit (IMU)-centric Moving Horizon Estimation framework that reconstructs lateral velocity using standard onboard signals, without relying on exteroceptive odometry or detailed tire-parameter tuning. Experimental validation on human-driven sports cars and an autonomous open-wheel race car across tracks, maneuvers, and conditions demonstrates accurate and robust lateral velocity and lateral acceleration estimates. The proposed framework is available at https://github.com/Aseuffo/IMU-Centric-MHE

Wed 9 SeptRobotics

The gist

Measuring how fast a car moves sideways is tricky because special sensors are expensive and hard to use. The authors introduce a new way to estimate this sideways speed using only inertial sensors already on most cars, plus existing signals. They show this works well for both human-driven sports cars and autonomous race cars, even when road grip changes. Their method doesn't need extra expensive sensors or detailed knowledge about tires to give accurate estimates.

Open → 2609.10202v1