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A Constrained Dual Kalman Filter Based on pdf Truncation for Estimation of Vehicle Parameters and Road Bank Angle: Analysis and Experimental Validation

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dc.affiliation.areaUC3M. Área de Ingeniería Mecánicaes
dc.affiliation.dptoUC3M. Departamento de Ingeniería Mecánicaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: MECATRAN: Mecánica Experimental, Cálculo y Transporteses
dc.contributor.authorLópez Boada, Beatrizes
dc.contributor.authorGarcía-Pozuelo Ramos, Danieles
dc.contributor.authorLópez Boada, María Jesúses
dc.contributor.authorDíaz López, Vicentees
dc.date.accessioned2017-03-31T09:40:41Z
dc.date.available2017-03-31T09:40:41Z
dc.date.issued2016-08-17es
dc.description.abstractVehicles today are equipped with control systems that improve their handling and stability. Knowledge of road bank angle and vehicle parameters is crucial for good behavior in this type of control. This paper develops a new method for estimating different states, such as vehicle roll angle, road bank angle, and vehicle parameters. This method combines a dual Kalman filter with a probability density function truncation method to consider the parameter physical limitations. Experimental results show the effectiveness of the proposed method and demonstrate that the incorporation of parameter constraints improves its estimation accuracy. The proposed method provides an estimation of the parameters and the states' physical meaning and the stable values within the real boundary limits in contrast to other estimation methods.es
dc.description.sponsorshipThis work was supported by Project TRA2013-48030-C2-1-R from the Spanish Ministry of Economy and Competitiveness. The Associate Editor for this paper was P. Kachroo.en
dc.format.mimetypetext/xml
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationBeatriz L. Boada, Daniel García-Pozuelo, Maria Jesús L. Boada, and Vicente Díaz. A Constrained Dual Kalman Filter based on pdf truncation for estimation of vehicle parameters and road bank angle: analysis and experimental validation. IEEE Transactions on Intelligent Transportation Systems, vol. 18, no. 4, April 2017. Pp. 1006-1016.
dc.identifier.doihttps://doi.org/10.1109/TITS.2016.2594217es
dc.identifier.issn1524-9050es
dc.identifier.publicationfirstpage1006es
dc.identifier.publicationissue99es
dc.identifier.publicationlastpage1016es
dc.identifier.publicationtitleIEEE Transactions on Intelligent Transportation Systemses
dc.identifier.publicationvolume18es
dc.identifier.urihttps://hdl.handle.net/10016/24456
dc.identifier.uxxiAR/0000018157es
dc.language.isoenges
dc.relation.projectIDGobierno de España. TRA2013-48030-C2-1-R
dc.rights© 2016 IEEE
dc.rights.accessRightsopen access
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.otherVehicleses
dc.subject.otherRoadses
dc.subject.otherEstimationes
dc.subject.otherKalman filterses
dc.subject.otherControl systemses
dc.subject.otherProbability density functiones
dc.subject.otherMathematical modeles
dc.titleA Constrained Dual Kalman Filter Based on pdf Truncation for Estimation of Vehicle Parameters and Road Bank Angle: Analysis and Experimental Validationes
dc.typeresearch article*
dspace.entity.typePublication
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