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.
关键词
状态预测/铰接转向车辆/模型预测控制/卡尔曼滤波
Key words
State prediction/articulated steering vehicle/model predictive control/Kalman filtering
维普
万方数据