Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter

Many active safety systems in automotive vehicles, for instance yaw stability systems such as ESC/ESP, depend on information about vehicle velocity, in particular lateral velocity or side-slip angle, to be able to function properly. However, the vehicle velocity is rarely measured directly due to issues of cost and reliability, and must therefore in general be inferred from other measurements, such as wheel speed, steering angle, yaw rate, and acceleration measurements.

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