Nonlinear Observer for Vehicle Motion Tracking

Woongsun Jeon, Ali Zemouche, Rajesh Rajamani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


This paper focuses on the development and use of a nonlinear observer for tracking of vehicle motion trajectories on highways while using a radar or laser sensor. Previous results on vehicle tracking have typically used an interacting multiple model filter that needs different models for different modes of vehicle motion. This paper uses a single nonlinear vehicle model that can be used for all modes of vehicle motion. A corresponding exponentially stable nonlinear observer is needed. Previous nonlinear observer design results do not work for the nonlinear system under consideration. Hence, a new nonlinear observer that utilizes better bounds on the coupled nonlinear functions in the dynamics is developed. The observer design with the developed technique is implemented in both simulations and experiments. Experimental results show that the observer can simultaneously estimate longitudinal position, lateral position, velocity and orientation variables for the vehicle from radar measurements during highway driving.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781538654286
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States

Bibliographical note

Funding Information:
This research was supported in part by a research grant from the National Science Foundation (NSF Grant PFI-1631133).

Publisher Copyright:
© 2018 AACC.


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