卡尔曼滤波器
拖拉机
控制理论(社会学)
拖车
观察员(物理)
传递函数
曲率
国家观察员
计算机科学
工程类
模拟
人工智能
数学
汽车工程
物理
几何学
控制(管理)
电气工程
非线性系统
量子力学
作者
Sangwon Han,Kyusang Yoon Geonyeong Park,Kunsoo Huh
出处
期刊:IEEE transactions on intelligent vehicles
[Institute of Electrical and Electronics Engineers]
日期:2023-02-01
卷期号:8 (2): 1449-1458
被引量:3
标识
DOI:10.1109/tiv.2022.3233077
摘要
In this paper, a new approach of state observer is proposed for the tractor with multi unit trailers. In the case of tractor with two articulated trailers, the dynamic characteristics of the trailers are dominantly determined by the two hitch angles connecting each trailer. A novel estimation system for the hitch angle is introduced by combining the Kalman filter with the deep learning network and transfer function techniques. The Gated Recurrent Unit (GRU) network is constructed to calculate hitch angles and these values are used as the virtual measurement in the Kalman filter. The dynamic characteristics of two trailers with respect to the hitch angles are expressed as the transfer function models and these models are used to calculate the hitch angles as the virtual measurement. The virtual measurements from the two methods are integrated separately into the Kalman filter design. The estimation performance of the hitch angle with the proposed hybrid observer is validated in simulations with various curvature scenarios.
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