文章基本信息

标题：Vehicle State Estimation Using a State Dependent Riccati Equation
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作者：Robbin van Hoek ; Mohsen Alirezaei ; Antoine Schmeitz 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3388-3393
DOI：10.1016/j.ifacol.2017.08.590
语种：English
出版社：Elsevier
摘要：AbstractIn this paper a Vehicle State Estimator is developed and validated on experimental data from a 2012 Toyota Prius. The estimator is capable of estimating both planar vehicle velocities and the tyre-road friction parameter. Emphasis is placed on the comparison of the commonly used Extended Kalman Filter and a novel application of the State Dependent Riccati Equation technique. The State Dependent Riccati based estimator relies on a factorization compared to linearization in the case of the Extended Kalman Filter. This factorization is non-unique, therefore the construction of this factorization, is also presented. A comparison is for both estimators is presented for experimental data. For estimation of the tyre-road friction parameter, simulations are used, due to absence of a reference value in the experimental set-up.
关键词：KeywordsState EstimationRiccati equationsExtended Kalman filtersParameter EstimationVehicle DynamicsVehicle Control