Robust H<sub>∞</sub> Filter Algorithm for Vehicle Tracking under Road Situation

MA Hai-ping; RUAN Xie-yong; ZHU Min-jie; JIN Bao-gen

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Robust H_∞ Filter Algorithm for Vehicle Tracking under Road Situation

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- Robust H_∞ Filter Algorithm for Vehicle Tracking under Road Situation
- Acta Electronica Sinica Vol. 36, Issue 12, Pages: 2363-2366(2008)
- 作者机构：
  
  绍兴文理学院物理与电子信息系,浙江,绍兴,312000
- 作者简介：
- 基金信息：
- DOI：
  CLC： TN953
- Published：2008
- 稿件说明：
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MA Hai-ping, RUAN Xie-yong, ZHU Min-jie, et al. Robust H_∞ Filter Algorithm for Vehicle Tracking under Road Situation[J]. Acta Electronica Sinica, 2008, 36(12): 2363-2366.
DOI：

MA Hai-ping, RUAN Xie-yong, ZHU Min-jie, et al. Robust H_∞ Filter Algorithm for Vehicle Tracking under Road Situation[J]. Acta Electronica Sinica, 2008, 36(12): 2363-2366. DOI：

摘要

为提高对车辆目标的跟踪效果

本文提出了一种带道路约束条件的鲁棒

∞

滤波算法.注意到车辆在行驶过程中会受到道路的约束

从而利用以道路抽象出的直线方程作为滤波的约束条件

建立带道路约束的动态系统模型

并推导出约束条件下的鲁棒

∞

滤波方程.实验仿真结果表明

本文所提出的带约束条件的

∞

滤波算法比不带约束的

∞

滤波算法以及同等条件下的卡尔曼滤波算法具有更好的滤波性能和更高的跟踪精确度.

Abstract

To enhance the quality for vehicle tracking

a robust

∞

filter algorithm under road situation is proposed in this paper.It notices that the running vehicles are constrained by the road network.Using the road network as filtering constraint condition

a dynamical system model with road constraint is built and the corresponding robust

∞

filtering equation is derived.The simulation results show that

the proposed algorithm has more tracking accuracy and better filtering performance than unconstrained

∞

filter and Kalman filter algorithm.

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Robust H∞ Filter Algorithm for Vehicle Tracking under Road Situation

DOI：

摘要

Abstract

关键词

Keywords

references

Robust H_∞ Filter Algorithm for Vehicle Tracking under Road Situation