Application of Unscented Kalman Filter for the State Estimation of Anti-lock Braking System

Author

Kun, Deng ; Kaijun, Li ; Qunsheng, Xia

Author_Institution

Tsinghua Univ., Beijing

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

130

Lastpage

133

Abstract

Extended Kalman filter (EKF) has been widely accepted as an important tool in the state estimation of nonlinear systems. However, defects of EKF such as biased estimation, computational complexity and inefficacy when analytical derivatives (Jacobians or Hessians) can not be calculated also affect its application in many fields. In this paper, unscented Kalman filter (UKF) was employed as an alternative to estimate the vehicle velocity and wheel angular speed of the anti-lock braking system (ABS). Simulation results show that the UKF can provide more accurate and efficient performance than the EKF for the state estimation.

Keywords

Kalman filters; angular velocity control; braking; nonlinear control systems; road vehicles; state estimation; antilock braking system; computational complexity; extended Kalman filter; nonlinear systems; state estimation; unscented Kalman filter; vehicle velocity; wheel angular speed; Automotive engineering; Friction; Jacobian matrices; Nonlinear systems; Safety; State estimation; Tires; Vehicle dynamics; Velocity measurement; Wheels; Anti-lock Braking System; Nonlinear state estimation; Unscented Kalman Filter;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicular Electronics and Safety, 2006. ICVES 2006. IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0759-1

Electronic_ISBN

1-4244-0759-1

Type

conf

DOI

10.1109/ICVES.2006.371568

Filename

4234004