Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter
In the advanced driver assistance system (ADAS), millimeter-wave radar is an important sensor to estimate the motion state of the target-vehicle. In this paper, the estimation of target-vehicle motion state includes two parts: the tracking of the target-vehicle and the identification of the target-v...
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| Format: | Article |
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MDPI AG
2020-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/9/2620 |
| _version_ | 1797568824393859072 |
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| author | Shiping Song Jian Wu |
| author_facet | Shiping Song Jian Wu |
| author_sort | Shiping Song |
| collection | DOAJ |
| description | In the advanced driver assistance system (ADAS), millimeter-wave radar is an important sensor to estimate the motion state of the target-vehicle. In this paper, the estimation of target-vehicle motion state includes two parts: the tracking of the target-vehicle and the identification of the target-vehicle motion state. In the unknown time-varying noise, non-linear target-vehicle tracking faces the problem of low precision. Based on the square-root cubature Kalman filter (SRCKF), the Sage–Husa noise statistic estimator and the fading memory exponential weighting method are combined to derive a time-varying noise statistic estimator for non-linear systems. A method of classifying the motion state of the target vehicle based on the time window is proposed by analyzing the transfer mechanism of the motion state of the target vehicle. The results of the vehicle test show that: (1) Compared with the Sage–Husa extended Kalman filtering (SH-EKF) and SRCKF algorithms, the maximum increase in filtering accuracy of longitudinal distance using the improved square-root cubature Kalman filter (ISRCKF) algorithm is 45.53% and 59.15%, respectively, and the maximum increase in filtering the accuracy of longitudinal speed using the ISRCKF algorithm is 23.53% and 29.09%, respectively. (2) The classification and recognition results of the target-vehicle motion state are consistent with the target-vehicle motion state. |
| first_indexed | 2024-03-10T20:02:34Z |
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| id | doaj.art-a600410b72b644bda001fb5cf6ae957e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T20:02:34Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-a600410b72b644bda001fb5cf6ae957e2023-11-19T23:28:58ZengMDPI AGSensors1424-82202020-05-01209262010.3390/s20092620Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman FilterShiping Song0Jian Wu1State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaIn the advanced driver assistance system (ADAS), millimeter-wave radar is an important sensor to estimate the motion state of the target-vehicle. In this paper, the estimation of target-vehicle motion state includes two parts: the tracking of the target-vehicle and the identification of the target-vehicle motion state. In the unknown time-varying noise, non-linear target-vehicle tracking faces the problem of low precision. Based on the square-root cubature Kalman filter (SRCKF), the Sage–Husa noise statistic estimator and the fading memory exponential weighting method are combined to derive a time-varying noise statistic estimator for non-linear systems. A method of classifying the motion state of the target vehicle based on the time window is proposed by analyzing the transfer mechanism of the motion state of the target vehicle. The results of the vehicle test show that: (1) Compared with the Sage–Husa extended Kalman filtering (SH-EKF) and SRCKF algorithms, the maximum increase in filtering accuracy of longitudinal distance using the improved square-root cubature Kalman filter (ISRCKF) algorithm is 45.53% and 59.15%, respectively, and the maximum increase in filtering the accuracy of longitudinal speed using the ISRCKF algorithm is 23.53% and 29.09%, respectively. (2) The classification and recognition results of the target-vehicle motion state are consistent with the target-vehicle motion state.https://www.mdpi.com/1424-8220/20/9/2620millimeter-wave radarsquare-root cubature Kalman filterSage-Husa algorithmtarget trackingstationary and moving object classification |
| spellingShingle | Shiping Song Jian Wu Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter Sensors millimeter-wave radar square-root cubature Kalman filter Sage-Husa algorithm target tracking stationary and moving object classification |
| title | Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter |
| title_full | Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter |
| title_fullStr | Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter |
| title_full_unstemmed | Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter |
| title_short | Motion State Estimation of Target Vehicle under Unknown Time-Varying Noises Based on Improved Square-Root Cubature Kalman Filter |
| title_sort | motion state estimation of target vehicle under unknown time varying noises based on improved square root cubature kalman filter |
| topic | millimeter-wave radar square-root cubature Kalman filter Sage-Husa algorithm target tracking stationary and moving object classification |
| url | https://www.mdpi.com/1424-8220/20/9/2620 |
| work_keys_str_mv | AT shipingsong motionstateestimationoftargetvehicleunderunknowntimevaryingnoisesbasedonimprovedsquarerootcubaturekalmanfilter AT jianwu motionstateestimationoftargetvehicleunderunknowntimevaryingnoisesbasedonimprovedsquarerootcubaturekalmanfilter |