A Study on Maneuvering Obstacle Motion State Estimation for Intelligent Vehicle Using Adaptive Kalman Filter Based on Current Statistical Model

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/515787/figures/515787.fig.0016a.svgz" name="515787.fig.0016a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Position estimation and position estimation error</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/515787/figures/515787.fig.0016b.svgz" name="515787.fig.0016b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Velocity estimation and velocity estimation error</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/515787/figures/515787.fig.0016c.svgz" name="515787.fig.0016c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Acceleration estimation and acceleration estimation error</td></tr></table>

<div>Comparison of motion state estimation.</div>

Mathematical Problems in Engineering

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Figure 16

Figure 16: A Study on Maneuvering Obstacle Motion State Estimation for Intelligent Vehicle Using Adaptive Kalman Filter Based on Current Statistical Model 

Figure 16 | A Study on Maneuvering Obstacle Motion State Estimation for Intelligent Vehicle Using Adaptive Kalman Filter Based on Current Statistical Model 