Paper Info
Title
A Robust Unscented M-Estimation-Based Filter for Vehicle State Estimation With Unknown Input
Abstract
Longitudinal velocity, lateral velocity, and front wheel steering angle are crucial states for vehicle active safety features. However, direct measurement of these variables requires expensive measurement instruments and can be easily affected by vehicle nonlinear dynamics, outliers and noise pollution. Moreover, unknown inputs bring great challenges to their accurate estimation. Therefore, this paper develops a novel robust unscented M-estimation-based filter (RUMF) for vehicle state estimation with unknown driver steering torque. The nonlinear system model is constructed based on the vehicle dynamics model. Unscented transformation (UT) and statistical linearization are implemented to transform the nonlinear process and measurement function into a linear-like regression form with data redundancy to achieve outlier suppression. Then, an M-estimation-based iterated algorithm is designed to address process uncertainty and innovation and observation outliers for robust vehicle state estimation. The iteratively reweighted least-squares (IRLS) method based on the M-estimation methodology is utilized for unknown input estimation. Simulations and experimental results compared with extended Kalman filter (EKF) and particle filter (PF) have verified the effectiveness and robustness of the proposed algorithm.
Year
DOI
Venue
2022
10.1109/TVT.2022.3163207
IEEE Transactions on Vehicular Technology
Keywords
DocType
Volume
Vehicle state estimation,torque estimation,robust unscented filter,unknown input estimation,vehicle dynamics
Journal
71
Issue
ISSN
Citations 
6
0018-9545
0
PageRank 
References 
Authors
0.34
22
5
Name
Order
Citations
PageRank
Zhongjin Xue100.68
Shuo Cheng262.13
Liang Li310225.00
Zhi-hua Zhong414.45
Hongyuan Mu500.34