DocumentCode
3125745
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
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
6728
Lastpage
6733
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1583243
Filename
1583243
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