Title :
Vehicle Velocity Estimation using Modular Nonlinear Observers
Author :
Imsland, Lars ; Johansen, Tor A. ; Fossen, Thor I. ; Kalkkuhl, Jens C. ; Suissa, Avshalom
Author_Institution :
SINTEF ICT, Applied Cybernetics, N-7465 Trondheim, Norway
Abstract :
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.
Keywords :
Accelerometers; Character generation; Cybernetics; Friction; Intelligent vehicles; Nonlinear dynamical systems; Stability; Vehicle dynamics; Velocity measurement; Wheels;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1583243
