Estimation of vehicle states based on adaptive model particle filter

doi:10.6041/j.issn.1000-1298.2014.10.004

	Estimation of vehicle states based on adaptive model particle filter
	Qin, Lufang 1,2; Li, Wei 1,2; Li, Jun 2; Cao, Jie 2
	2014-10-25
发表期刊	Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery
ISSN	10001298
卷号	45 期号:10 页码:22-29
摘要	In order to get the accurate and real-time vehicle state variables in running, a new kind of model adaptive update particle filter method is proposed. The non-Gaussian and non-linear tire noise vehicle dynamics model is established. High frequency sub-band is used to estimate real-time measurement noise variance of sensors based on the wavelet transform. The real fitting degree of observation likelihood function is improved and the degradation phenomenon of particle weight is improved to a certain extent by the combination of the adaptive auto regression model of the whole vehicle system state. Virtual experiment based on ADAMS/Car and real vehicle experiment verify the validity of the proposed method. Experiment results show that the estimation precision and anti-noise performance of the proposed method are superior to those of the commonly used method, and can satisfy the requirements of vehicle state estimation.
关键词	Monte Carlo methods Regression analysis Spurious signal noise State estimation Vehicles Virtual reality Wavelet transforms Autoregression models Estimation of vehicles Estimation precision Particle filter Real time measurements Vehicle dynamics Vehicle dynamics models Vehicle state estimations
DOI	10.6041/j.issn.1000-1298.2014.10.004
收录类别	EI
语种	中文
出版者	Chinese Society of Agricultural Machinery
EI入藏号	20144600200261
EI主题词	Adaptive filtering
EI分类号	731.1 Control Systems - 921.3 Mathematical Transformations - 922.2 Mathematical Statistics
来源库	Compendex
分类代码	723 Computer Software, Data Handling and Applications - 731.1 Control Systems - 921.3 Mathematical Transformations - 922.2 Mathematical Statistics
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/113587
专题	兰州理工大学
作者单位	1.Jiangsu Key Laboratory of Large Engineering Equipment Detection and Control, Xuzhou Institute of Technology, Xuzhou; 221000, China; 2.College of Electrical and Information Engineering, Lanzhou Uniersity of Technology, Lanzhou; 730050, China
推荐引用方式 GB/T 7714	Qin, Lufang,Li, Wei,Li, Jun,et al. Estimation of vehicle states based on adaptive model particle filter[J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):22-29.
APA	Qin, Lufang,Li, Wei,Li, Jun,&Cao, Jie.(2014).Estimation of vehicle states based on adaptive model particle filter.Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,45(10),22-29.
MLA	Qin, Lufang,et al."Estimation of vehicle states based on adaptive model particle filter".Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 45.10(2014):22-29.