On Vehicle Pitch Estimation via solid-state LIDAR. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Selmanaj, Donald; Corno, Matteo; Panzani, Giulio; Savaresi, Sergio M.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 13904
• Page End: 13909
• Publication Date: 2020
• Subjects: Road -- Profile -- Estimation -- LIDAR; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.904
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Solid-state LIDAR technology has recently emerged, allowing for smaller and more affordable devices. In the present work, we investigate the possibility of using a vehicle mounted solid-state LIDAR to estimate the vehicle pitch and heave dynamics. We present and compare two approaches: a model-based estimation and a data driven algorithm. The algorithms are tested on an instrumented vehicle. The experimental results show that the data-driven approach outperforms the model-based estimation in estimating pitch caused both by accelerations and braking and by road disturbances.