Vehicle state prediction is essential for risk assessment and control.A state prediction method is proposed for articulated steering vehicles.First,the model prediction controller is constructed,and the pseudo-measurement vector is designed according to the control information.Then a Kalman filter predictor,which combines the virtual measurement vector and the model prediction results,is designed to output the final prediction results.The simulation results show that the proposed state prediction algorithm can accurately predict the articulated steering vehicle states within 0.5 seconds,including steering angle,speed,and position.
State predictionarticulated steering vehiclemodel predictive controlKalman filtering
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