VORRICHTUNG ZUR VERFOLGUNG DES WEGES EINES FAHRZEUGS

摘要

In order to generate, in real time, an estimated state vector (je) tracking the path of a vehicle (1) moving at a current speed (va), from a control (u) and a current measurement vector (y), the observation device (2) comprises a first module (4) that calculates, in real time, the estimated state vector (je) tracking the path and an estimated measurement vector (y). A second module (5) adjusts, in real time, a temporal variation (x) of the estimated state vector (x) in order to reduce a difference between said current measurement vector (y) and the estimated measurement vector (y) by multiplying the difference by an estimation gain matrix (Lc) calculated by weighted summation, in real time, of a first estimation gain matrix (Lmin) optimised for a first speed (vmin) less than or equal to the current speed (va) and a second estimation gain matrix (Lmax) optimised for a second speed (vmax) greater than or equal to the current speed (va).