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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Tracking of Vehicle Motion on Highways and Urban Roads Using a Nonlinear Observer
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Tracking of Vehicle Motion on Highways and Urban Roads Using a Nonlinear Observer

机译：使用非线性观测器跟踪高速公路和城市道路上的车辆运动

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摘要

This paper focuses on the development and use of a nonlinear observer for tracking of vehicle motion trajectories while using a radar sensor. Previous results on vehicle tracking have typically used an interacting multiple model filter that needs different models for different modes of vehicle motion. This paper uses a single nonlinear vehicle model that can be used for all modes of vehicle motion. Previous nonlinear observer design results from the literature do not work for the nonlinear system under consideration due to the wide range of operating conditions that need to be accommodated. Hence, a new nonlinear observer design technique that utilizes better bounds on the coupled nonlinear functions in the dynamics is developed. The exponential stability of the observer is established using Lyapunov techniques. The observer design with the developed technique is then implemented in both simulations and experiments. Experimental results show that the observer can simultaneously and accurately estimate longitudinal position, lateral position, and velocity and orientation variables for the vehicle from radar measurements. Results are presented both for tracking of vehicle maneuvers on highways and of maneuvers on urban roads at traffic intersections where turns and significant changes in vehicle orientation can occur.
机译：本文侧重于开发和使用非线性观测器，用于使用雷达传感器的同时跟踪车辆运动轨迹。上一篇关于车辆跟踪的结果通常使用相互作用的多模型滤波器，需要针对不同模式的不同车型需要不同的模型。本文采用单个非线性车辆模型，可用于所有车辆运动模式。以前的非线性观测器设计来自文献的结果对于由于需要容纳的各种操作条件，因此不适用于非线性系统。因此，开发了一种新的非线性观察者设计技术，其利用在动态的耦合非线性函数上利用更好的边界。使用Lyapunov技术建立了观察者的指数稳定性。然后在两种模拟和实验中实现了具有开发技术的观察者设计。实验结果表明，观察者可以同时和准确地估计车辆从雷达测量的纵向位置，横向位置和速度和方向变量。结果表明，用于跟踪高速公路车辆演习，以及在城市道路上的运作，在交通交叉口的转弯和车辆取向的重大变化的情况下。

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