论文信息 - Vehicle Velocity Estimation using Modular Nonlinear Observers

Vehicle Velocity Estimation using Modular Nonlinear Observers

Nonlinear observers for estimation of lateral and longitudinal velocity of automotive vehicles are proposed, based on acceleration and yaw rate measurements in addition to wheel speed and steering angle. The observer for lateral velocity uses a tyre-road friction model. Exponential stability of the observers are shown. A structural assumption on the friction model is discussed. The observer structure is validated using experimental data from cars.

L. Imsland | T.A. Johansen | T.I. Fossen | J.C. Kalkkuhl | A. Suissa

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