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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Wischnewski, A.; Stahl, T.; Betz, J.; Lohmann, B. 
Title:
Vehicle Dynamics State Estimation and Localization for High Performance Race Cars 
Pages contribution:
pp. 307-312 
Abstract:
Autonomous driving requires accurate information about the vehicle pose and motion state in order to achieve precise tracking of the planned trajectory. In this paper we propose a robust architecture to localize a high performance race car and show experimental results with speeds up to 150 km h-1 and utilizing approximately 80% of the available friction level. The concept has been applied using the development vehicle DevBot taking part in the Roborace competition. To achieve robust and reliabl...    »
 
Keywords:
State Estimation; Sensor Fusion; Robust Performance; Autonomous Vehicles; Kalman Filters 
Dewey Decimal Classification:
620 Ingenieurwissenschaften 
Editor:
Wiszniewski B.; Kowalczuk Z.; Domzalski M. 
Book / Congress title:
IFAC Symposium on Intelligent Autonomous Vehicles IAV [10th, Gdansk, Poland, 2019] 
Congress (additional information):
IFAC-PapersOnLine 
Volume:
Vol. 52, Issue 8 
Publisher:
Elsevier 
Year:
2019 
Month:
Aug 
Covered by:
Scopus; Web of Science 
Bookseries ISSN:
24058963 
Reviewed:
ja 
Language:
en 
TUM Institution:
Lehrstuhl für Regelungstechnik