DocumentCode :
739604
Title :
Implementation of EKF for Vehicle Velocities Estimation on FPGA
Author :
Hongyan Guo ; Hong Chen ; Fang Xu ; Fei Wang ; Geyu Lu
Author_Institution :
Dept. of Control Sci. & Eng., Jilin Univ., Changchun, China
Volume :
60
Issue :
9
fYear :
2013
Firstpage :
3823
Lastpage :
3835
Abstract :
In order to improve the computational performance of the extended Kalman filter (EKF) for longitudinal and lateral vehicle velocities estimation, a novel scheme for the EKF implementation is proposed based on field programmable gate array (FPGA) and System on Programmable Chip (SoPC). A Nios II processor clocked at 100 MHz is embedded into the FPGA chip. The EKF is created by C/C++ program and runs in the Nios II processor. The main procedure for the EKF implementation using FPGA/SoPC technique is decomposed into three parts: system requirements analysis, hardware design, and software design. The proposed architecture offers favorable flexibility since it supports the reconfigurable hardware and reprogramming software. For the sake of increasing the computational efficiency, the single precision floating-point customized instructions and algorithm optimization are adopted. A testing platform is introduced to evaluate the functionality and the computational performance of the EKF, which includes an FPGA prototyping board and an xPC-Target system. Simulation results of standard double lane change, slalom test, and hard accelerating and braking test show that the proposed EKF implementation scheme has acceptable precision and computational efficiency.
Keywords :
Kalman filters; automotive electronics; field programmable gate arrays; nonlinear filters; road vehicles; system-on-chip; EKF; FPGA chip; FPGA prototyping board; Nios II processor; SoPC technique; algorithm optimization; braking test; extended Kalman filter; field programmable gate array; frequency 100 MHz; hard accelerating test; hardware design; lateral vehicle velocity estimation; longitudinal vehicle velocity estimation; single precision floating-point customized instructions; slalom test; software design; system on programmable chip; system requirements analysis; testing platform; xPC-target system; Estimation; Field programmable gate arrays; Hardware; Roads; Tires; Vehicles; Wheels; Extended Kalman filter (EKF); field programmable gate array (FPGA); real-time systems; vehicle velocities estimation;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/TIE.2012.2208436
Filename :
6266733
Link To Document :
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