An Approach for Vehicle State Estimation Using Extended Kalman Filter

被引：0
|
作者：
Tong, Liang [1 ]
机构：
[1] Beijing Informat Sci & Technol Univ, Mech & Elect Engn Sch, Beijing, Peoples R China
来源：
SYSTEMS SIMULATION AND SCIENTIFIC COMPUTING, PT I | 2012年 / 326卷
关键词：
vehicle; extended kalman filter; state estimation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to meet the high cost requirement of some vehicle states measured directly in vehicle active safety control system, an approach using the Extended Kalman Filter to estimate lateral and longitudinal velocity is proposed. Firstly, a vehicle dynamic model with 3 DOF, including longitudinal, lateral and yaw motions is built with MATLAB/SIMULINK. Secondly, the vehicle state estimation algorithm by the extended Kalman state observer based on the nonlinear vehicle model is achieved and the states of longitudinal, lateral acceleration and yaw rate for the vehicle are estimated online. Finally, the estimated results are compared with the results obtained from CarSim using the same parameter to verify the practicality of the proposed method.
引用
收藏
页码：56 / 63
页数：8
相关论文
共 50 条
  • [1] Sensor position identification and vehicle state estimation using the extended Kalman filter
    Slimi, H.
    Sentouh, C.
    Mammar, S.
    Nouveliere, L.
    [J]. INTELLIGENT SYSTEMS AND AUTOMATION, 2008, 1019 : 41 - 46
  • [2] High accuracy road vehicle state estimation (using extended Kalman filter
    Wada, M
    Yoon, KS
    Hashimoto, H
    [J]. 2000 IEEE INTELLIGENT TRANSPORTATION SYSTEMS PROCEEDINGS, 2000, : 282 - 287
  • [3] Dual extended Kalman filter for vehicle state and parameter estimation
    Wenzel, TA
    Burnham, KJ
    Blundell, MV
    Williams, RA
    [J]. VEHICLE SYSTEM DYNAMICS, 2006, 44 (02) : 153 - 171
  • [4] State of charge estimation using extended kalman filter
    Mazzi, Yahia
    Ben Sassi, Hicham
    Errahimi, Fatima
    Es-Sbai, Najia
    [J]. 2019 INTERNATIONAL CONFERENCE ON WIRELESS TECHNOLOGIES, EMBEDDED AND INTELLIGENT SYSTEMS (WITS), 2019,
  • [5] Vehicle State Estimation Using Cubature Kalman Filter
    Xin, Xiaoshuai
    Chen, Jinxi
    Zou, Jianxiao
    [J]. 2014 IEEE 17TH INTERNATIONAL CONFERENCE ON COMPUTATIONAL SCIENCE AND ENGINEERING (CSE), 2014, : 44 - 48
  • [6] Reliable vehicle state estimation based on improved extended Kalman filter
    [J]. Li, Xu, 1600, Southeast University (44):
  • [7] Battery State of Charge Estimation Using Adaptive Extended Kalman Filter for Electric Vehicle application
    Shrivastava, Prashant
    Soon, Tey Kok
    Bin Idris, Mohd Yamani Idna
    Mekhilef, Saad
    [J]. 2020 IEEE 9TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (IPEMC2020-ECCE ASIA), 2020, : 2202 - 2207
  • [8] Nonlinear estimator design based on extended Kalman filter approach for state estimation of articulated heavy vehicle
    Jeyed, Hamze Ahmadi
    Ghaffari, Ali
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2019, 233 (02) : 254 - 265
  • [9] Dual Extended Kalman Filter for Combined Estimation of Vehicle State and Road Friction
    Zong Changfu
    Hu Dan
    Zheng Hongyu
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2013, 26 (02) : 313 - 324
  • [10] State and parameter estimation using extended Kitanidis Kalman filter
    Varshney, Devyani
    Bhushan, Mani
    Patwardhan, Sachin C.
    [J]. JOURNAL OF PROCESS CONTROL, 2019, 76 : 98 - 111
12345