Abstract
This work concentrates on the estimation problems of vehicle lateral states. Based on the two-degree-freedom vehicle model, considering the impacts of the vehicle longitudinal velocity to the vehicle lateral states, we propose a vehicle lateral state observer using the Kalman-Bucy filter. The proposed observer was verified by the simulation experiments. The results show that the proposed method can effectively provide accurate estimation of the vehicle lateral velocity and yaw rate, and filter the process noise and measurement noise as well.
F2012-G04-005
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Acknowledgments
This work was partially sponsored by the National Science Foundation of China (No. 61164007), and Science Foundation of Guizhou Province (No. [2011]2196)
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Zhao, J., Zhao, R., He, F. (2013). Vehicle Lateral States Estimation Using Kalman-Bucy Filter. In: Proceedings of the FISITA 2012 World Automotive Congress. Lecture Notes in Electrical Engineering, vol 198. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33795-6_19
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DOI: https://doi.org/10.1007/978-3-642-33795-6_19
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