{"id":"https://openalex.org/W3210304448","doi":"https://doi.org/10.1109/itsc48978.2021.9564571","title":"Dual Extended Kalman Filter Based State and Parameter Estimator for Model-Based Control in Autonomous Vehicles","display_name":"Dual Extended Kalman Filter Based State and Parameter Estimator for Model-Based Control in Autonomous Vehicles","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3210304448","doi":"https://doi.org/10.1109/itsc48978.2021.9564571","mag":"3210304448"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026550358","display_name":"Chenran Li","orcid":"https://orcid.org/0000-0003-0231-7741"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chenran Li","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003875504","display_name":"Y.W. Liu","orcid":"https://orcid.org/0000-0002-2709-660X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yulong Liu","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087667477","display_name":"Liting Sun","orcid":"https://orcid.org/0000-0002-1248-2137"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liting Sun","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375489","display_name":"Yahui Liu","orcid":"https://orcid.org/0000-0001-7787-584X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yahui Liu","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101770873","display_name":"Wei Zhan","orcid":"https://orcid.org/0000-0002-1474-1200"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Zhan","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5026550358"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.1833,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.50382518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"327","last_page":"333"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7506263256072998},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6929932832717896},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6779665946960449},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.582892894744873},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.5148565173149109},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5092242956161499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4737960696220398},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4666559398174286},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.41299015283584595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3063485026359558},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23482263088226318},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21731597185134888},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14494800567626953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10853195190429688}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7506263256072998},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6929932832717896},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6779665946960449},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.582892894744873},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.5148565173149109},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5092242956161499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4737960696220398},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4666559398174286},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.41299015283584595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3063485026359558},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23482263088226318},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21731597185134888},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14494800567626953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10853195190429688},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1592601589","https://openalex.org/W1852245783","https://openalex.org/W1965657007","https://openalex.org/W1968651586","https://openalex.org/W1976467619","https://openalex.org/W2019954549","https://openalex.org/W2073787051","https://openalex.org/W2089209970","https://openalex.org/W2112930335","https://openalex.org/W2124071321","https://openalex.org/W2132570625","https://openalex.org/W2493529707","https://openalex.org/W2740957115","https://openalex.org/W2901737350","https://openalex.org/W2970080264","https://openalex.org/W2980087597","https://openalex.org/W2999571428","https://openalex.org/W3119132970","https://openalex.org/W6788204285"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W80107739","https://openalex.org/W2020144404","https://openalex.org/W4287880334","https://openalex.org/W4372347353","https://openalex.org/W2162299404","https://openalex.org/W2103062922","https://openalex.org/W2370409284"],"abstract_inverted_index":{"To":[0],"enable":[1],"effective":[2],"model-based":[3,22,146],"control":[4,23,147],"for":[5,114,145],"autonomous":[6],"vehicles,":[7],"accurate":[8,94],"vehicle":[9,44,66,131],"states":[10,95],"and":[11,21,45,67,80,96,126,142],"model":[12,28],"parameters":[13,32,51],"are":[14,117,132],"required.":[15],"Most":[16],"of":[17,42,61,64,111,124,138],"the":[18,40,43,57,62,65,70,86,136,139],"state":[19,79],"estimation":[20,82],"consider":[24],"a":[25,78,104,129],"linear":[26,105],"time-invariant":[27],"with":[29],"fixed":[30],"system":[31,100],"by":[33],"using":[34],"their":[35],"approximate":[36],"values,":[37],"such":[38],"as":[39,103],"weight":[41],"tire":[46],"cornering":[47],"stiffness.":[48],"However,":[49],"these":[50],"may":[52],"vary":[53],"significantly":[54],"due":[55],"to":[56,92,119,134],"highly":[58],"nonlinear":[59],"behavior":[60],"tires":[63],"changes":[68],"in":[69],"driving":[71],"environment.":[72],"In":[73],"this":[74],"work,":[75],"we":[76],"propose":[77],"parameter":[81,106,112],"approach":[83],"based":[84],"on":[85,128],"dual":[87],"extended":[88],"Kalman":[89],"filter":[90],"(DEKF)":[91],"obtain":[93],"time-varying":[97],"parameters.":[98],"The":[99],"is":[101],"modeled":[102],"varying":[107],"system.":[108],"New":[109],"formulations":[110],"correction":[113],"general":[115],"DEKF":[116],"proposed":[118,140],"achieve":[120],"faster":[121],"convergence.":[122],"Results":[123],"simulations":[125],"experiments":[127],"real":[130],"included":[133],"demonstrate":[135],"effectiveness":[137],"method":[141],"its":[143],"benefits":[144],"approaches.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}