Vehicle Longitudinal Speed Estimation Using 3DOF Localization Information and Genetic Solver

Reza Ghahremaninejad, Kerem Par, Ali Ufuk Peker, Ömer Konan

2025

Abstract

The accurate vehicle longitudinal speed measurement is vital for many sub-modules of current vehicle control units. Ego velocity estimation in Automated Vehicles (AV) scope is one of the fundamental functionalities required to properly operate many sub-modules like control, planning, and perception. The current speed sensors on most commercial vehicles have different precision and failure rates. To mitigate the faulty behavior of AV modules in vehicle speed sensor failure scenarios, a real-time velocity estimation method can play a redundant role in the vehicle speed sensor. This work attempts to estimate vehicle longitudinal speed having 3DOF real-time localization data. Considering the vehicle dynamic bicycle model, an objective function is formulated, and then a genetic solver solves the single objective optimization problem. The validation of the velocity estimation is discussed by comparing the real-time estimated value with accurate vehicle speed sensor measurement. Results show an acceptable recall of ego longitudinal velocity for redundancy application.

Paper Citation

in Harvard Style

Ghahremaninejad R., Par K., Peker A. and Konan Ö. (2025). Vehicle Longitudinal Speed Estimation Using 3DOF Localization Information and Genetic Solver. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 222-227. DOI: 10.5220/0013479700003941

in Bibtex Style

@conference{vehits25,
author={Reza Ghahremaninejad and Kerem Par and Ali Peker and Ömer Konan},
title={Vehicle Longitudinal Speed Estimation Using 3DOF Localization Information and Genetic Solver},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={222-227},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013479700003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Vehicle Longitudinal Speed Estimation Using 3DOF Localization Information and Genetic Solver
SN - 978-989-758-745-0
AU - Ghahremaninejad R.
AU - Par K.
AU - Peker A.
AU - Konan Ö.
PY - 2025
SP - 222
EP - 227
DO - 10.5220/0013479700003941
PB - SciTePress