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Journal of Sensors
Volume 2016, Article ID 9568785, 8 pages
Research Article

Soft Sensor of Vehicle State Estimation Based on the Kernel Principal Component and Improved Neural Network

1School of Automotive Engineering, Dezhou University, Dezhou 253023, China
2School of Economics and Management, Dezhou University, Dezhou 253023, China
3Automotive Engineering College, Shandong Jiaotong University, Jinan 250023, China

Received 6 March 2016; Revised 5 August 2016; Accepted 30 August 2016

Academic Editor: Jesus Corres

Copyright © 2016 Haorui Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In the car control systems, it is hard to measure some key vehicle states directly and accurately when running on the road and the cost of the measurement is high as well. To address these problems, a vehicle state estimation method based on the kernel principal component analysis and the improved Elman neural network is proposed. Combining with nonlinear vehicle model of three degrees of freedom (3 DOF), longitudinal, lateral, and yaw motion, this paper applies the method to the soft sensor of the vehicle states. The simulation results of the double lane change tested by Matlab/SIMULINK cosimulation prove the KPCA-IENN algorithm (kernel principal component algorithm and improved Elman neural network) to be quick and precise when tracking the vehicle states within the nonlinear area. This algorithm method can meet the software performance requirements of the vehicle states estimation in precision, tracking speed, noise suppression, and other aspects.