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

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.