带输入估计变维滤波在确定汽车车速中的应用

Application of variable dimesion filter with input estimation to vehicle speed determination

构建了机动车辆运动状态动力模型.在模型中,输入项用来描述汽车行驶加速度,针对汽车行驶环境为对接路面的情形,提出了采用带输入估计变维滤波估计车辆行驶速度的方法.给出了汽车机动运行开始时刻估计值,有效地提高了估计精度,适用于复杂路面上的车辆行驶速度的估计.

We construct a dynamic model of maneuvering vehicle. In the model, the input estimation is used to describe the acceleration of the vehicle. Referred to the environment of the docking road, the paper introduces the variable dimension filter with input estimation to estimate the velocity. The paper also estimates the start time that the vehicle maneuves, improves the estimation accuracy. It can be applied to estimate the velocity of vehicles on the complicated roads effectively.