H_∞フィルタを用いた道路形状, 車両状態の推定手法 Road Model and Vehicle State Estimation using H_∞ Filter

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It is important to estimate the road model and vehicle state for Lane Departure Warning Systems and Lane Keeping Systems. One of the conventional methods is to estimate these parameters using the Kalman filter. Recently, the <I>H</I><SUB>∞</SUB> filter has been derived based on <I>H</I><SUB>∞</SUB>-theory. The <I>H</I><SUB>∞</SUB> filter is formulated as the robust state-estimation filter to the modeling errors and disturbances (the initial state and noises). In this paper, a estimation method of the road model and vehicle state using <I>H</I><SUB>∞</SUB> filter is proposed. In addition, we develop a simple method to check an existence condition of the <I>H</I><SUB>∞</SUB> filter per time step and a fast algorithm in case that the size of the observation vector is larger than the size of the state vector. The efficiency of the proposed methods is demonstrated by simulations.

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  • システム制御情報学会論文誌

    システム制御情報学会論文誌 17(11), 469-478, 2004-11-15

    一般社団法人 システム制御情報学会

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各種コード

  • NII論文ID(NAID)
    10013711616
  • NII書誌ID(NCID)
    AN1013280X
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13425668
  • NDL 記事登録ID
    7145994
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-195
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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