Vehicle Dynamic State Estimation: State of the Art Schemes and Perspectives

Hongyan Guo; Dongpu Cao; Chen Hong; Chen Lv; Huaji Wang; Siqi Yang

doi:10.1109/JAS.2017.7510811

Volume 5 Issue 2

Mar. 2018

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 15.3, Top 1 (SCI Q1)

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(2): 418-431

Hongyan Guo, Dongpu Cao, Chen Hong, Chen Lv, Huaji Wang and Siqi Yang, "Vehicle Dynamic State Estimation: State of the Art Schemes and Perspectives," IEEE/CAA J. Autom. Sinica, vol. 5, no. 2, pp. 418-431, Feb. 2018. doi: 10.1109/JAS.2017.7510811

Citation:

Hongyan Guo, Dongpu Cao, Chen Hong, Chen Lv, Huaji Wang and Siqi Yang, "Vehicle Dynamic State Estimation: State of the Art Schemes and Perspectives," IEEE/CAA J. Autom. Sinica, vol. 5, no. 2, pp. 418-431, Feb. 2018. doi: 10.1109/JAS.2017.7510811

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Vehicle Dynamic State Estimation: State of the Art Schemes and Perspectives

doi: 10.1109/JAS.2017.7510811

Hongyan Guo^1
,,
Dongpu Cao^2
,,
Chen Hong^{1
,
,},
Chen Lv^3
,,
Huaji Wang^3
,,
Siqi Yang^1
,

1.
State Key Laboratory of Automotive Simulation and Control and the Department of Control Science and Engineering, Jilin University(Campus Nanling), Changchun 130025, China
2.
Mechanical and Mechatronics Engineering Department at the University of Waterloo, N2L 3G1, Canada
3.
Department of Automotive Engineering, Cranfield University, Bedfordshire MK43 0AL, UK

Funds:

the National Natural Science Foundation of China 61403158

the National Natural Science Foundation of China 61520106008

the Project of the Education Department of Jilin Province 2016-429

More Information

Author Bio:
Hongyan Guo (M'17) received the Ph.D.degree from Jilin University, Changchun, China, in 2010. She joined Jilin University, Changchun, China, in 2011.From 2014, she is an associate professor with the Department of Control Science and Engineering, Jilin University.Her current research interests include path tracking and stability control of autonomous vehicles and vehicle states estimation. (e-mail: guohy11@jlu.edu.cn)

Dongpu Cao (M'08) received the Ph.D.degree from Concordia University, Canada, in 2008.He is currently an Associate Professor at University of Waterloo, Canada.His research focuses on vehicle control and intelligence, automated driving and parallel driving, where he has contributed more than 130 publications and 1 US patent.He received the ASME AVTT2010 Best Paper Award and 2012 SAE Arch T.Colwell Merit Award.Dr.Cao serves as an Associate Editor for IEEE Transactions on Vehicular Technology, IEEE Transactions on Intelligent Transportation Systems, IEEE/ASME Transactions on Measurement, IEEE Transactions on Industrial Electronics and ASME Journal of Dynamic Systems, Measurement and Control.He has been a Guest Editor for VehicleSystem Dynamics, and IEEE Transactions on Human-Machine Systems.He has been serving on the SAE International Vehicle Dynamics Standards Committee and a few ASME, SAE, IEEE technical committees. (e-mail: ca@yahoo.com)

Hong Chen (M'02-SM'12) received the Ph.D.degree from the University of Stuttgart, Stuttgart, Germany, in 1997.She joined Jilin University of Technology, China, in 1986, where she became an Associate Professor in 1998, and has been a Professor since 1999.Her current research interests include model predictive control, optimal and robust control, and applications in process engineering and mechatronic systems. (e-mail: chenh@jlu.edu.cn)

Chen Lv (S'14-M'16) is currently a research fellow at the Advanced Vehicle Engineering Center, Cranfield University, UK.He received the Ph.D. degree in the Department of Automotive Engineering, Tsinghua University, China in 2016.From 2014 to 2015, he was a joint Ph.D.researcher at EECS Dept., University of California, Berkeley, supervised by Prof.Alberto L.Sangiovanni-Vincentelli.His research focuses on cyber-physical system, hybrid system, advanced vehicle control and intelligence, where he has contributed over 40 papers and obtained 10 patents. (e-mail: c.lyu@cranfield.ac.uk)

Huaji Wang received the B.S.degree in automotive engineering from Jilin University, China, in 2005, and the Ph.D.degree in automotive engineering from the University of Cambridge, Cambridge, U.K., in 2016, concentrating on the study of driver/vehicle systems and driver-automation collaboration.He presently works as a Research Fellow in Automated Driving at Cranfield University, UK. (e-mail: huaji.wang@cranfield.ac.uk)

Siqi Yang received the B.S.and master degrees from Jilin University, Changchun, China.Her current research interest is vehicle states estimation. (e-mail: sqyang@mails.jlu.edu.cn)
Corresponding author: Hong Chen, e-mail: chenh@jlu.edu.cn
Received Date: 2017-04-07
Accepted Date: 2017-10-30

Abstract

Abstract

Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developments in the estimation of vehicle dynamic states. The definitions used in vehicle dynamic state estimation are first introduced, and alternative estimation structures are presented. Then, the sensor configuration schemes used to estimate vehicle velocity, sideslip angle, yaw rate and roll angle are presented. The vehicle models used for vehicle dynamic state estimation are further summarized, and representative estimation approaches are discussed. Future concerns and perspectives for vehicle dynamic state estimation are also discussed.
- Estimation structure,
- extended Kalman filter,
- sensor configuration,
- sideslip angle estimation,
- vehicle dynamic state estimation,
- vehicle dynamics model

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References(97)

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Vehicle Dynamic State Estimation: State of the Art Schemes and Perspectives

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