Vehicle Velocity Observer Design Using 6-D IMU and Multiple-Observer Approach

This paper mainly focuses on the accurate estimation of the vehicle velocities of all axes, using the data received from a low-cost 6-D inertial measurement unit. The data include the vehicle linear acceleration and angular rates of all axes. In addition, the observer uses the wheel speed sensors and steering wheel angle information, which are already available on most recent production cars. Utilizing the aforementioned information, based on the combination of a bicycle model and a kinematic model, a multiple-observer system that computes the weighted sum estimation that is dependent on cornering stiffness adaptation is adopted to observe the lateral vehicle velocity, as well as longitudinal and vertical velocities. The stability of each component of the proposed observer is investigated, and a set of assessments to confirm the performance of the entire system is arranged through experiments using a real production sport utility vehicle.