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Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter
Technical Paper
2007-01-0808
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
A nonlinear observer for automotive vehicle velocity estimation in presence of varying friction and road bank angles is presented, and validated and compared to an Extended Kalman Filter (EKF) implemented for the same purpose. The performance of the nonlinear observer is as good as the EKF, while having significantly lower computational complexity.
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Authors
- Lars Imsland - SINTEFICT, Applied Cybernetics
- Håvard Fjær Grip - SINTEFICT, Applied Cybernetics
- Tor A. Johansen - SINTEFICT, Applied Cybernetics
- Thor I. Fossen - SINTEFICT, Applied Cybernetics
- Jens C. Kalkkuhl - DaimlerChrysler Research and Technology
- Avshalom Suissa - DaimlerChrysler Research and Technology
Citation
Imsland, L., Grip, H., Johansen, T., Fossen, T. et al., "Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter," SAE Technical Paper 2007-01-0808, 2007, https://doi.org/10.4271/2007-01-0808.Also In
SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems
Number: V116-6; Published: 2008-08-15
Number: V116-6; Published: 2008-08-15
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