Dynamic State Estimation for Vehicle Platoon System Based on Feedback Estimators
نویسندگان
چکیده
A dynamic feedback system is developed for estimating the headway and velocity in a longitudinal three-vehicle platoon. The estimation system is modeled using a particle filter (PF) and an unscented Kalman filter (UKF) that estimate them by measuring the acceleration rate and/or velocity of probe vehicle(s) in the platoon. State equations are defined as a discrete conservation equation of headway and velocity, whereas the measurement equation is based on a conventional car-following model. The UKF and PF have the advantage of avoiding first-order approximation when implementing a filtering process to increase the estimation accuracy. Numerical analyses using real car-following data showed that the PF and UKF reduce the estimation errors in most cases at satisfactorily levels around 1m for headway and 1m/s for velocity estimations.
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