Vehicle State Estimation Using a State Dependent Riccati Equation
article
In 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.
Topics
TNO Identifier
781889
ISSN
24058963
Source
IFAC-PapersOnLine, 50(1), pp. 3388-3393.
Pages
3388-3393
Files
To receive the publication files, please send an e-mail request to TNO Repository.