NDLI: Estimation of vehicle lateral velocity

Content Provider	IEEE Xplore Digital Library
Author	Farrelly, J. Wellstead, P.
Copyright Year	1996
Description	Author affiliation: Dept. of Electr. Eng. & Electron., Univ. of Manchester Inst. of Sci. & Technol., UK (Farrelly, J.)
Abstract	Two techniques for the estimation of vehicle lateral velocity using state observers are considered. The first method uses a physical model of the vehicle handling. The physical model based observer produces noise free lateral velocity estimates, but can be sensitive to changes in the vehicle parameters. It produces reliable estimates in the vehicle linear handling region only. We show that the observer gain can be selected to make the observer insensitive to certain parameter variations. The second method uses a kinematic model relating longitudinal velocity, lateral velocity, longitudinal acceleration, lateral acceleration and yaw rate. This model contains no vehicle parameters, and hence the kinematic model based observer is unaffected by changes in the vehicle parameters. The observer produces reliable lateral velocity estimates throughout the linear and nonlinear handling regions, the estimates however are more noisy than those produced by the physical model based observer. The techniques are compared using simulated data for manoeuvers in the linear and nonlinear handling regions of the vehicle.
Starting Page	552
Ending Page	557
File Size	513918
Page Count	6
File Format	PDF
ISBN	0780329759
DOI	10.1109/CCA.1996.558920
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-09-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Observers Tires State estimation Land vehicles Road vehicles Vehicle dynamics Acceleration Observability Velocity control
Content Type	Text
Resource Type	Article

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