Vehicle velocity estimation using nonlinear observers

Authors:
Lars Imsland;Tor A. Johansen;Thor I. Fossen;HåVard FjæR Grip;Jens C. Kalkkuhl;Avshalom Suissa
Affiliations:
SINTEF ICT, Applied Cybernetics, N-7465 Trondheim, Norway;SINTEF ICT, Applied Cybernetics, N-7465 Trondheim, Norway and NTNU, Department of Engineering Cybernetics, N-7491 Trondheim, Norway;SINTEF ICT, Applied Cybernetics, N-7465 Trondheim, Norway and NTNU, Department of Engineering Cybernetics, N-7491 Trondheim, Norway;SINTEF ICT, Applied Cybernetics, N-7465 Trondheim, Norway and NTNU, Department of Engineering Cybernetics, N-7491 Trondheim, Norway;DaimlerChrysler Research and Technology, 70456 Stuttgart, Germany;DaimlerChrysler Research and Technology, 70456 Stuttgart, Germany
Venue:
Automatica (Journal of IFAC)
Year:
2006

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Abstract

Nonlinear observers for estimation of lateral and longitudinal velocity of automotive vehicles are proposed. The observers are based on a sensor suite that is standard in many new cars, consisting of acceleration and yaw rate measurements in addition to wheel speed and steering angle measurements. Two approaches are considered: first, a modular approach where the estimated longitudinal velocity is used as input to the observer for lateral velocity, and second, a combined approach where all states are estimated in the same observer. Both approaches use a tire-road friction model, which is assumed to be known. It is also assumed that the road is flat. Stability of the observers is proven in the form of input-to-state stability of the observer error dynamics, under a structural assumption on the friction model. The assumption on the friction model is discussed in detail, and the observers are validated on experimental data from cars.