Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-18
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Vehicle sideslip angle is essential for active safety control systems.
This paper presents a new hybrid Kalman filter to estimate vehicle sideslip angle based on the 3-DoF nonlinear vehicle dynamic model combined with Magic Formula tire model.
The hybrid Kalman filter is realized by combining square-root cubature Kalman filter (SCKF), which has quick convergence and numerical stability, with square-root cubature based receding horizon Kalman FIR filter (SCRHKF), which has robustness against model uncertainty and temporary noise.
Moreover, SCKF and SCRHKF work in parallel, and the estimation outputs of two filters are merged by interacting multiple model (IMM) approach.
Experimental results show the accuracy and robustness of the hybrid Kalman filter.
American Psychological Association (APA)
Li, Jing& Zhang, Jiaxu. 2016. Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1112010
Modern Language Association (MLA)
Li, Jing& Zhang, Jiaxu. Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter. Mathematical Problems in Engineering No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1112010
American Medical Association (AMA)
Li, Jing& Zhang, Jiaxu. Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1112010
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112010