書誌事項
- タイトル別名
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- Road Model and Vehicle State Estimation using H.INF. Filter
- H フィルタ オ モチイタ ドウロ ケイジョウ シャリョウ ジョウタイ ノ スイテイ シュホウ
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It is important to estimate the road model and vehicle state for Lane Departure Warning Systems and Lane Keeping Systems. One of the conventional methods is to estimate these parameters using the Kalman filter. Recently, the H∞ filter has been derived based on H∞-theory. The H∞ filter is formulated as the robust state-estimation filter to the modeling errors and disturbances (the initial state and noises). In this paper, a estimation method of the road model and vehicle state using H∞ filter is proposed. In addition, we develop a simple method to check an existence condition of the H∞ filter per time step and a fast algorithm in case that the size of the observation vector is larger than the size of the state vector. The efficiency of the proposed methods is demonstrated by simulations.
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 17 (11), 469-478, 2004
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390001205165727232
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- NII論文ID
- 10013711616
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 7145994
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可