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.
Vehicle Lateral States Estimation Using Kalman-Bucy Filter
2012
9 Seiten
Aufsatz (Konferenz)
Englisch
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