Host-Target Vehicle Model-Based Lateral State Estimation for Preceding Target Vehicles Considering Measurement Delay

Yafei Wang, Zhisong Zhou, Chongfeng Wei, Yahui Liu, Chengliang Yin*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)


Automated vehicle control requires full knowledge of motion behavior of the preceding target vehicles (PTVs), and the states such as longitudinal/lateral velocity and yaw rate are critical for the PTV behavior description. However, the PTV's lateral states estimation have seldom been addressed in the state-of-the-art literatures. Aimed at providing reliable PTV lateral states, this paper presents a novel combined model-based estimation scheme. Different from the conventional PTV models, the proposed model is constructed based on the host-target vehicle dynamics and road constraints. Specifically, steering angle of the PTV is included in the state vector. The measurements, such as heading angle, road curvature, and lateral distance to the lane center, are available from an onboard vision system. As a vision system inevitably has measurement delay, a modified Kalman filter is developed to address the sampling issue. To verify the proposed approach, hardware-in-the-loop experiments are conducted in designed testing scenarios.

Original languageEnglish
Pages (from-to)4190-4199
Number of pages10
JournalIEEE Transactions on Industrial Informatics
Issue number9
Early online date18 Apr 2018
Publication statusPublished - Sep 2018
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2005-2012 IEEE.

Copyright 2018 Elsevier B.V., All rights reserved.


  • Automated vehicle
  • lateral velocity
  • measurement delay
  • preceding target vehicle (PTV)
  • state estimation
  • yaw rate

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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