Vehicle State Estimation Using Cubature Kalman Filter

The vehicle state is of significant to examine and control vehicle performance. But some vehicle states such as vehicle velocity and side slip angle which are vital to active safety application of vehicle can not be measured directly and must be estimated instead. In this paper, a Cubature Kalman Filter (CKF) based algorithm for estimation vehicle velocity, yaw rate and side slip angle using steering wheel angle, longitudinal acceleration and lateral sensors is proposed. The estimator is designed based on a three-degree-of-freedom (3DOF) vehicle model. Effectiveness of the estimation is examined by comparing the outputs of the estimator with the responses of the vehicle model in Car Sim under double lane change and slalom conditions.