Adaptive EKF-Based Vehicle State Estimation With Online Assessment of Local Observability

In this paper, an extended Kalman filter-based estimator adopting a dynamic vehicle model for determining the vehicle's longitudinal and lateral velocity as well as the yaw rate is proposed. Two additional adaptation states are introduced to scale longitudinal and lateral tire forces if necessa...

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Veröffentlicht in:	IEEE transactions on control systems technology 2016-07, Vol.24 (4), p.1368-1381
Hauptverfasser:	Katriniok, Alexander, Abel, Dirk
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation Adaptation models Adaptive estimation automotive applications Automotive components Automotive wheels Estimation Estimators Excitation Global Positioning System Kalman filters Mathematical models observability Tires Vehicle dynamics Vehicles Wheels
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