Vehicle Lateral and Longitudinal Velocity Estimation Using Coupled EKF and RLS Methods

Abstract:

In order to meet the cost requirement of lateral and longitudinal velocity measured directly in vehicle active safety control systems, based on 3-DOF vehicle model and the Recursive Least Squares (RLS) which can identify the tire cornering stiffness online, a control algorithm using Extended Kalman Filter(EKF) to estimate lateral and longitudinal velocity is proposed. The estimation values are compared with simulator values from CarSim. The compared results demonstrated that the proposed algorithm could estimate the lateral and longitudinal velocity accurately and robustly.

• Periodical: Applied Mechanics and Materials (Volumes 29-32)
• Pages: 851-856
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.29-32.851
• Online since: August 2010
• Authors: Liang Chu, Yong Sheng Zhang, Yan Ru Shi, Ming Fa Xu, Yang Ou
• Keywords: Extended Kalman Flter (EKF), Recursive Least Squares, Tire Cornering Stiffness, Vehicle Dynamic Model, Vehicle Velocity

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