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A Robust Hierarchical Estimation Scheme for Vehicle State Based on Maximum Correntropy Square-Root Cubature Kalman Filter

Accurate acquisition of vehicle dynamics state information is essential for vehicle active safety control systems. However, these states cannot be easily measured, and the measurement is expensive. Conventional Kalman filters perform well for vehicle state estimation in Gaussian environments but exh...

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Detalles Bibliográficos
Autores principales: Qi, Dengliang, Feng, Jingan, Li, Yongbin, Wang, Lei, Song, Bao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10048041/
https://www.ncbi.nlm.nih.gov/pubmed/36981341
http://dx.doi.org/10.3390/e25030453
Descripción
Sumario:Accurate acquisition of vehicle dynamics state information is essential for vehicle active safety control systems. However, these states cannot be easily measured, and the measurement is expensive. Conventional Kalman filters perform well for vehicle state estimation in Gaussian environments but exhibit low accuracy and robustness under practical non-Gaussian noise. Vehicle model parameter ingestion, inaccurate tire force calculation, and non-Gaussian noise from on-board sensors cause great challenges to the estimation of vehicle driving states. Therefore, this paper presents a robust hierarchical estimation scheme for vehicle driving state based on the maximum correntropy square-root cubature Kalman filter (MCSCKF) using easily measurable on-board sensor information. First, the vehicle mass is dynamically updated based on the recursive least squares (FRLS) method with a forgetting factor. Then, an adaptive sliding mode observer (ASMO) is designed to estimate the longitudinal and lateral tire forces. Ultimately, the vehicle states are estimated based on the MCSCKF under non-Gaussian noise. Two typical operating situations are carried out to verify the validity of the proposed estimation scheme. The results prove that the proposed estimation scheme can estimate the vehicle’s driving state accurately compared to other common methods. And the MCSCKF algorithm has better accuracy and robustness than the traditional Kalman filters for vehicle state estimation in non-Gaussian situations.