Nonlinear Observer for Vehicle Velocity Estimation

2006-01-1282

04/03/2006

Event
SAE 2006 World Congress & Exhibition
Authors Abstract
Content
A nonlinear observer for estimation of lateral and longitudinal velocity of automotive vehicles is proposed, based on acceleration and yaw rate measurements in addition to wheel speed and steering angle measurements. Stability of the observer is proved in the form of input-to-state stability of the observer error dynamics, under an assumption on the friction model. This assumption is treated with some detail. The observers are validated on experimental data from cars.
Meta TagsDetails
DOI
https://doi.org/10.4271/2006-01-1282
Pages
12
Citation
Imsland, L., Johansen, T., Fossen, T., Kalkkuhl, J. et al., "Nonlinear Observer for Vehicle Velocity Estimation," SAE Technical Paper 2006-01-1282, 2006, https://doi.org/10.4271/2006-01-1282.
Additional Details
Publisher
Published
Apr 3, 2006
Product Code
2006-01-1282
Content Type
Technical Paper
Language
English