A Youla controller output observation system with three linear observers and bumpless switching is proposed for estimating vehicle position, heading, and speed from radar measurements, and is shown in simulation to outperform a four-gain nonlinear observer.
Image-based vehicle tracking and classification on the highway,
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Design and Simulation of Vehicle Motion Tracking System using a Youla Controller Output Observation System
A Youla controller output observation system with three linear observers and bumpless switching is proposed for estimating vehicle position, heading, and speed from radar measurements, and is shown in simulation to outperform a four-gain nonlinear observer.