Tire Radii Estimation Using a Marginalized Particle Filter

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Lundquist C., Karlsson R., ÖZKAN E., Gustafsson F.

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, vol.15, no.2, pp.663-672, 2014 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 15 Issue: 2
  • Publication Date: 2014
  • Doi Number: 10.1109/tits.2013.2284930
  • Journal Indexes: Science Citation Index Expanded, Scopus
  • Page Numbers: pp.663-672
  • Keywords: Conjugate prior, marginalized particle filter (MPF), noise parameter estimation, tire radius


In this paper, the measurements of individual wheel speeds and the absolute position from a global positioning system are used for high-precision estimation of vehicle tire radii. The radii deviation from its nominal value is modeled as a Gaussian random variable and included as noise components in a simple vehicle motion model. The novelty lies in a Bayesian approach to estimate online both the state vector and the parameters representing the process noise statistics using a marginalized particle filter (MPF). Field tests show that the absolute radius can be estimated with submillimeter accuracy. The approach is tested in accordance with regulation 64 of the United Nations Economic Commission for Europe on a large data set (22 tests, using two vehicles and 12 different tire sets), where tire deflations are successfully detected, with high robustness, i.e., no false alarms. The proposed MPF approach outperforms common Kalman-filter-based methods used for joint state and parameter estimation when compared with respect to accuracy and robustness.