Browsing Waterloo Research by Subject "Unscented Kalman filter"

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Distributed Robust Vehicle State Estimation

Hashemi, Ehsan; Pirani, Mohammad; Fidan, Baris; Khajepour, Amir; Chen, Shih-Ken; Litkouhi, Baktiar (Institute of Electrical and Electronics Engineers, 2017-06)

A distributed estimation approach based on opinion dynamics is proposed to enhance the reliability of vehicle corners’ velocity estimates, which are obtained by an unscented Kalman filter. The corners’ estimates from a ...
Estimation of longitudinal speed robust to road conditions for ground vehicles

Kasaiezadeh Mahabadi, Seyed Alireza; Khosravani, Saeid; Khajepour, Amir; Moshchuk, Nikolai; Chen, Shih-Ken; Hashemi, Ehsan (Taylor & Francis, 2016-06-14)

This article seeks to develop a longitudinal vehicle velocity estimator robust to road conditions by employing a tyre model at each corner. Combining the lumped LuGre tyre model and the vehicle kinematics, the tyres internal ...
Longitudinal vehicle state estimation using nonlinear and parameter-varying observers

Hashemi, Ehsan; Khosravani, Saeid; Khajepour, Amir; Kasaiezadeh Mahabadi, Seyed Alireza; Chen, Shih-Ken; Litkouhi, Baktiar (Elsevier, 2017-05)

A corner-based velocity estimation approach is proposed which is used for vehicle’s traction and stability control systems. This approach incorporates internal tire states within the vehicle kinematics and enables the ...