Radar sensor-based longitudinal motion estimation by using a generalized high-gain observer
Radar sensor-based longitudinal motion estimation by using a generalized high-gain observer
This study explores vehicle longitudinal dynamic estimation using a noisy radar sensor. By incorporating additional velocity information, we propose an improved generalized high-gain observer that ensures exponential Input to State Stability (ISS) of estimation errors with explicit bound. The observer of this work deals with the extra measurement differently than our recent paper, that does not account for noisy measurement. The observer outperforms standard high gain in convergence speed, accuracy, and noise rejection. The proposed algorithm is tested and validated using a tracking scenario designed using the CARLA simulation environment. It is shown through the results that the proposed observer outperforms the standard high-gain observer in terms of convergence speed, accuracy and noise rejection.
Bessafa, Hichem
ebd99914-6d22-4c75-864e-24810a3fdbf8
Belkhatir, Zehor
de90d742-a58f-4425-837c-20ff960fb9b6
Delattre, Cedric
45ecfb15-1bcf-4317-bf0b-10a5f140df86
Zemouche, Ali
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Rajamani, Rajesh
367d7b77-395d-45f8-9302-73129e9e0fcb
July 2024
Bessafa, Hichem
ebd99914-6d22-4c75-864e-24810a3fdbf8
Belkhatir, Zehor
de90d742-a58f-4425-837c-20ff960fb9b6
Delattre, Cedric
45ecfb15-1bcf-4317-bf0b-10a5f140df86
Zemouche, Ali
7f5372a1-fff2-4281-9748-b5c5506cbdda
Rajamani, Rajesh
367d7b77-395d-45f8-9302-73129e9e0fcb
Bessafa, Hichem, Belkhatir, Zehor, Delattre, Cedric, Zemouche, Ali and Rajamani, Rajesh
(2024)
Radar sensor-based longitudinal motion estimation by using a generalized high-gain observer.
2024 American Control Conference, Westin Harbour Castle, Toronto, Canada.
10 - 12 Jul 2024.
(doi:10.23919/ACC60939.2024.10644906).
Record type:
Conference or Workshop Item
(Paper)
Abstract
This study explores vehicle longitudinal dynamic estimation using a noisy radar sensor. By incorporating additional velocity information, we propose an improved generalized high-gain observer that ensures exponential Input to State Stability (ISS) of estimation errors with explicit bound. The observer of this work deals with the extra measurement differently than our recent paper, that does not account for noisy measurement. The observer outperforms standard high gain in convergence speed, accuracy, and noise rejection. The proposed algorithm is tested and validated using a tracking scenario designed using the CARLA simulation environment. It is shown through the results that the proposed observer outperforms the standard high-gain observer in terms of convergence speed, accuracy and noise rejection.
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Published date: July 2024
Venue - Dates:
2024 American Control Conference, Westin Harbour Castle, Toronto, Canada, 2024-07-10 - 2024-07-12
Identifiers
Local EPrints ID: 493130
URI: http://eprints.soton.ac.uk/id/eprint/493130
PURE UUID: 674a3916-07f7-4f05-a364-57481bd99ed9
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Date deposited: 23 Aug 2024 16:48
Last modified: 06 Nov 2025 03:07
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Contributors
Author:
Hichem Bessafa
Author:
Zehor Belkhatir
Author:
Cedric Delattre
Author:
Ali Zemouche
Author:
Rajesh Rajamani
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