Journal
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
Volume 5, Issue 2, Pages 418-431Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2017.7510811
Keywords
Estimation structure; extended Kalman filter; sensor configuration; sideslip angle estimation; vehicle dynamic state estimation; vehicle dynamics model
Categories
Funding
- National Natural Science Foundation of China [61403158, 61520106008]
- Project of the Education Department of Jilin Province [2016-429]
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Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developments in the estimation of vehicle dynamic states. The definitions used in vehicle dynamic state estimation are first introduced, and alternative estimation structures are presented. Then, the sensor configuration schemes used to estimate vehicle velocity, sideslip angle, yaw rate and roll angle are presented. The vehicle models used for vehicle dynamic state estimation are further summarized, and representative estimation approaches are discussed. Future concerns and perspectives for vehicle dynamic state estimation are also discussed.
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