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International Journal of Automotive Technology > Volume 10(6); 2009 > Article
International Journal of Automotive Technology 2009;10(6): 675-685.
VEHICLE VELOCITY ESTIMATION FOR REAL-TIME DYNAMIC STABILITY CONTROL
L. LI, J. SONG, L. KONG, Q. HUANG
Tsinghua University
ABSTRACT
A new approach is proposed for nonlinear asymptotic observers based on the cascade observer system with a fusion of sensor signals. In the observers, the characteristic of the vehicle dynamic system, the nonlinear tire force estimation, load transfer estimation, and road ramp angle compensation are considered. The errors in the observation of vehicle velocity were diminished, and the computation cost was decreased for a real-time microcontroller. Simulation and real vehicle test results validate the higher accuracy of the velocity estimation by the proposed observers under complicated handling maneuver conditions.
Key Words: Vehicle dynamic control, Longitudinal velocity, Lateral velocity, Observer, Tire force, Road ramp
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