Accurate local vehicle dead-reckoning for a parking assistance system

Investigates the possibility of computing position estimates for passenger cars based only on signals available in a production car. Two new dead reckoning approaches are compared to the well known rear axle based algorithm. One method combines the wheel revolution data calculated on the basis of raw ABS-signal measurements with the steering angle measurement. The other model based algorithm computes the position estimates using velocity and also steering angle measurement. For this approach the well known tricycle model has been extended by an object-oriented front axle model. Both newly proposed methods perform superior to the simple rear axle based algorithm and provide position data precise enough for control purposes. This was shown by experiments using a real car in connection with a real-time signal processing environment.