A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation
نویسندگان
چکیده
منابع مشابه
Unscented Kalman Filter for Vehicle State Estimation
Vehicle Dynamics Control (VDC) systems require the information about system variables, which cannot be directly measured, e.g., the wheel slip or the vehicle side-slip angle. This paper presents a new concept for the vehicle state estimation under assumption that the vehicle is equipped with the standard VDC sensors. It is proposed to utilize an Unscented Kalman Filter (UKF) for estimation purp...
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In the several past years, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) havebecame basic algorithm for state-variables and parameters estimation of discrete nonlinear systems.The UKF has consistently outperformed for estimation. Sometimes least estimation error doesn't yieldwith UKF for the most nonlinear systems. In this paper, we use a new approach for a two variablestate no...
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Advanced driver assistance system development is a rapidly growing field in modern automotive engineering. These systems ensure increased safety and comfort for passenger vehicles by actively influencing the vehicle dynamics. Most of these systems rely on the current driving stability, described by internal states. Since many of these states cannot be measured directly or only under high costs,...
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In order to evaluate the driving stability of a motor vehicle, the accurate determination of the vehicle sideslip angle is of significant importance. With the help of the sensor signals in today’s production vehicles, this state can only be determined with limited accuracy. We propose an algorithm for the determination and estimation of the vehicle state based on the Unscented Kalman Filter. In...
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Based on presentation of the principles of the EKF and UKF for state estimation, we discuss the differences of the two approaches. Four rather different simulation cases are considered to compare the performance. A simple procedure to include state constraints in the UKF is proposed and tested. The overall impression is that the performance of the UKF is better than the EKF in terms of robustne...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2021
ISSN: 1563-5147,1024-123X
DOI: 10.1155/2021/8847075