Open Access

Robust Estimation of Vehicle Dynamic State Using a Novel Second-Order Fault-Tolerant Extended Kalman Filter

Journal Article
10-07-03-0019
ISSN: 2380-2162, e-ISSN: 2380-2170
Published May 25, 2023 by SAE International in United States
Robust Estimation of Vehicle Dynamic State Using a Novel Second-Order
                    Fault-Tolerant Extended Kalman Filter
Sector:
Citation: Wang, Y., Wei, H., Hu, B., and Lv, C., "Robust Estimation of Vehicle Dynamic State Using a Novel Second-Order Fault-Tolerant Extended Kalman Filter," SAE Int. J. Veh. Dyn., Stab., and NVH 7(3):301-311, 2023, https://doi.org/10.4271/10-07-03-0019.
Language: English

Abstract:

The vehicle dynamic state is essential for stability control and decision-making of intelligent vehicles. However, these states cannot usually be measured directly and need to be obtained indirectly using additional estimation algorithms. Unfortunately, most of the existing estimation methods ignore the effect of data loss on estimation accuracy. Furthermore, high-order filters have been proven that can significantly improve estimation performance. Therefore, a second-order fault-tolerant extended Kalman filter (SOFTEKF) is designed to predict the vehicle state in the case of data loss. The loss of sensor data is described by a random discrete distribution. Then, an estimator of minimum estimation error covariance is derived based on the extended Kalman filter (EKF) framework. Finally, experimental tests demonstrate that the SOFTEKF can reduce the effect of data loss and improve estimation accuracy by at least 10.6% compared to the traditional EKF and fault-tolerant EKF.