An improved observer design approach for autonomous vehicles using error-based ultra-local model
Fényes, Dániel and Hegedűs, Tamás and Németh, Balázs and Gáspár, Péter (2025) An improved observer design approach for autonomous vehicles using error-based ultra-local model. SCIENTIFIC REPORTS, 15 (1). ISSN 2045-2322 10.1038/s41598-025-10575-0
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Abstract
The paper presents a novel observer design method for an autonomous vehicle-oriented estimation problem. The design process combines two approaches: the Linear Parameter Varying framework and the error-based ultra-local model. The main goal of the error-based ultra-local model is to deal with the uncertainties and the nonlinearities of the model, whose effects cannot be taken into account during the modeling process. In this way, the performance of the LPV-based observer can be significantly improved. The proposed method is implemented for the estimation of the lateral velocity. The efficiency and the operation of the observer algorithm are presented through simulations in CarMaker and using real test measurements from ZalaZone proving ground.
| Item Type: | Article |
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| Subjects: | Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány |
| Divisions: | Systems and Control Lab |
| SWORD Depositor: | MTMT Injector |
| Depositing User: | MTMT Injector |
| Date Deposited: | 29 Jul 2025 07:48 |
| Last Modified: | 29 Jul 2025 07:48 |
| URI: | https://eprints.sztaki.hu/id/eprint/10950 |
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