Vehicle Lateral and Longitudinal Velocity Estimation Using Coupled EKF and RLS Methods
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.
L. Chu et al., "Vehicle Lateral and Longitudinal Velocity Estimation Using Coupled EKF and RLS Methods", Applied Mechanics and Materials, Vols. 29-32, pp. 851-856, 2010