Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (1): 134-138.doi: 10.13229/j.cnki.jdxbgxb20190957

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Inertial measurement unit/wheel speed sensor integrated zero-speed detection

Lu XIONG1,2(),Yan-chao WEI1,2,Le-tian GAO1,2   

  1. 1.School of Automotive Studies，Tongji University，Shanghai 201804，China
    2.Clean Energy Automotive Engineering Center，Tongji University，Shanghai 201804，China
  • Received:2019-10-15 Online:2021-01-01 Published:2021-01-20

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Abstract:

Zero speed detection is a key technology in vehicle integrated navigation and is the basis for zero speed error correction and initial quasi-static alignment. Zero-speed detectors that rely solely on IMU （Inertial Measurement Unit） have zero-speed misjudgment in dynamics conditions， which leads to the problems such as erroneous updates. In order to solve the mentioned problems in vehicle integrated navigation， a novel zero-speed detection method based on generalized likelihood ratio test and IMU/wheel speed fusion is proposed， which is then verified by experiments. The test results show that compared to the zero-speed detector relying only on IMU or only on the wheel speed， the zero-speed detector based on the IMU/wheel speed sensor fusion could reduce the misjudgment in dynamic conditions， and improves the accuracy of zero-speed detection.

Key words: vehicle engineering, wheel speed, Neyman-Pearson criterion, zero speed detection

CLC Number: 

  • U463.6

Fig.1

Dead zone of wheel speed signal"

Fig.2

Picture of test equipment"

Fig.3

Likelihood ratio comparison of SHOE and IMU/wheel speed fusion zero speed detector"

Fig.4

Performance comparison of zero speed detectors: only wheel speed and IMU/wheel speed"

Fig.5

Performance comparison of zero speed detectors: SHOE and IMU/wheel speed"

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