Review of State Estimation Methods for Autonomous Ground Vehicles: Perspectives on Estimation Objects, Vehicle Characteristics, and Key Algorithms.

This paper reviews research on vehicle driving state estimation research. Based on the discussion of the importance, development history, and application fields of this topic of research, it focuses on analyzing vehicle state estimation techniques from different perspectives, namely (1) from the perspective of the estimation objects, including vehicle attitude and driving state estimations, chassis component key dynamic parameter estimations, and vehicle driving environment state estimations; (2) from the perspective of vehicle characteristics, including vehicle dynamics coupling characteristics, vehicle multi-source information redundancy characteristics, and vehicle state transition characteristics; (3) from the perspective of key estimation algorithms, including model-based Kalman filtering algorithms, data-driven machine learning algorithms, and optimization estimation algorithms combining mechanism-based and data-driven approaches. This manuscript helps interested readers to comprehensively understand the research progress, technical features, and future trends of vehicle state estimation technology from the perspective of overall architecture and subdomains.