Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Autorschaft

  • Mark Wielitzka
  • Matthias Dagen
  • Tobias Ortmaier

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OriginalspracheEnglisch
Titel des Sammelwerks2016 American Control Conference, ACC 2016
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten6899-6904
Seitenumfang6
ISBN (elektronisch)9781467386821
PublikationsstatusVeröffentlicht - 28 Juli 2016
Veranstaltung2016 American Control Conference, ACC 2016 - Boston, USA / Vereinigte Staaten
Dauer: 6 Juli 20168 Juli 2016

Abstract

Advanced driver assistance systems in modern vehicles have gained interest in the past decades. For most of these systems accurate knowledge about the current driving state, describing the vehicle's stability is necessary. Especially information about the vehicle's sideslip angle and rate can improve the performance of many assistance systems, e.g. Electronic Stability Program (ESP). Since the sideslip angle can not be measured directly or only under high cost, online estimation is proposed. Based on measurements taken on a Volkswagen Golf GTE Plug-In Hybrid assumptions for the process noise are made. Considering these noise characteristics in simulation using a detailed nonlinear vehicle dynamic model, the Unscented Kalman Filter in general and additive form is implemented for sideslip angle estimation. Their performance is compared considering various maneuvers.

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Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics. / Wielitzka, Mark; Dagen, Matthias; Ortmaier, Tobias.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. S. 6899-6904 7526759.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Wielitzka, M, Dagen, M & Ortmaier, T 2016, Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics. in 2016 American Control Conference, ACC 2016., 7526759, Institute of Electrical and Electronics Engineers Inc., S. 6899-6904, 2016 American Control Conference, ACC 2016, Boston, USA / Vereinigte Staaten, 6 Juli 2016. https://doi.org/10.1109/acc.2016.7526759
Wielitzka, M., Dagen, M., & Ortmaier, T. (2016). Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics. In 2016 American Control Conference, ACC 2016 (S. 6899-6904). Artikel 7526759 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2016.7526759
Wielitzka M, Dagen M, Ortmaier T. Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics. in 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. S. 6899-6904. 7526759 doi: 10.1109/acc.2016.7526759
Wielitzka, Mark ; Dagen, Matthias ; Ortmaier, Tobias. / Comparison of Unscented Kalman Filter in general and additive formulation for state estimation in vehicle dynamics. 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. S. 6899-6904
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