Vehicle driving states in a dynamic vehicle model are with strong uncertainty and nonlinearity. Simply applying traditional Unscented Kalman Filter (UKF) or Neural Network cannot meet the requirements of future vehicle driving state estimation, which may lead to a severe failure in the vehicle's electronic controlling system. This paper proposes an optimized algorithm based on Elman Neural Network (ENN) and UKF. Combining the superiority of ENN dealing with nonlinearity and the ability of UKF dealing with uncertainty, the proposed ENN-UKF significantly reduces the filtering error. Based on the nonlinear seven-degree-of-freedom vehicle model and Dugoff tire model, ENN-UKF is tested on standard Double Lane Change road conditions. The results demonstrate that our approach performs much better than traditional UKF with an improvement of at least 40%. This study indicates the feasibility of applying ENN-UKF in the vehicle driving state estimation.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Vehicle Driving State Estimation Algorithm based on Elman Neural Network and Unscented Kalman Filter


    Beteiligte:
    Fu, Zanhao (Autor:in) / Luo, Zeyuan (Autor:in)


    Erscheinungsdatum :

    12.03.2021


    Format / Umfang :

    3423280 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Unscented Kalman filter for vehicle state estimation

    Antonov, S. / Fehn, A. / Kugi, A. | Taylor & Francis Verlag | 2011


    Unscented Kalman filter for vehicle state estimation

    Antonov,S. / Fehn,A. / Kugi,A. et al. | Kraftfahrwesen | 2011


    Unscented Kalman filter for vehicle state estimation

    Antonov, S. | Online Contents | 2011


    Vehicle state estimation method and system combining neural network and unscented Kalman filter

    CAI YINGFENG / TAN CHENKAI / CHEN LONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle State Information Estimation with the Unscented Kalman Filter

    Ren, Hongbin / Chen, Sizhong / Liu, Gang et al. | Tema Archiv | 2014