卡尔曼滤波器
控制理论(社会学)
稳健性(进化)
高斯分布
扩展卡尔曼滤波器
计算机科学
递归最小平方滤波器
平方根
算法
数学
自适应滤波器
人工智能
物理
基因
几何学
量子力学
化学
生物化学
控制(管理)
作者
Dengliang Qi,Jianxiang Feng,Yongbin Li,Lei Wang,Bao Song
出处
期刊:Entropy
[MDPI AG]
日期:2023-03-04
卷期号:25 (3): 453-453
被引量:2
摘要
Accurate acquisition of vehicle dynamics state information is essential for vehicle active safety control systems. However, these states cannot be easily measured, and the measurement is expensive. Conventional Kalman filters perform well for vehicle state estimation in Gaussian environments but exhibit low accuracy and robustness under practical non-Gaussian noise. Vehicle model parameter ingestion, inaccurate tire force calculation, and non-Gaussian noise from on-board sensors cause great challenges to the estimation of vehicle driving states. Therefore, this paper presents a robust hierarchical estimation scheme for vehicle driving state based on the maximum correntropy square-root cubature Kalman filter (MCSCKF) using easily measurable on-board sensor information. First, the vehicle mass is dynamically updated based on the recursive least squares (FRLS) method with a forgetting factor. Then, an adaptive sliding mode observer (ASMO) is designed to estimate the longitudinal and lateral tire forces. Ultimately, the vehicle states are estimated based on the MCSCKF under non-Gaussian noise. Two typical operating situations are carried out to verify the validity of the proposed estimation scheme. The results prove that the proposed estimation scheme can estimate the vehicle's driving state accurately compared to other common methods. And the MCSCKF algorithm has better accuracy and robustness than the traditional Kalman filters for vehicle state estimation in non-Gaussian situations.
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