Vehicle state and parameter estimation based on adaptive robust unscented particle filter

In order to solve the problem that the measured values of key state parameters such as the lateral velocity and yaw rate of the vehicle are easily interfered by random errors, a filter estimation method of vehicle state is proposed based on the principle of robust filtering and the unscented particle filter algorithm. Based on the establishment of a 3-DOF non-linear dynamic model and the Dugoff tire model of the vehicle, the adaptive robust unscented particle filter(ARUPF) is used to filter and estimate the parameters of the vehicle state, and to realize the longitudinal and lateral speed as well as the yaw rate of the vehicle during the driving process. The simulation and the real vehicle test results show that based on the adaptive robust unscented particle filter algorithm, the vehicle driving state estimation can be realized, the measurement parameters can be effectively filtered, and the estimation accuracy is high.