Vehicle Lateral and Longitudinal Velocity Estimation Based on Unscented Kalman Filter

摘要：

Vehicle lateral velocity (vy) and longitudinal velocity (vx) play an important role in modern vehicle active safety control systems.However using sensors to measure vy and vx are very expensive,it is necessary to estimate vy and vx from other variables measured easily. In this paper,a novel estimation method for vy and vx is proposed.This method is based on Unscented Kalman Filter (UKF) from steering angle,yaw rate and acceleration,which can be measured easily and cheaply by sensors. This method was evaluated under a variety of maneuvers and road conditions.The simulation results demonstrated that the proposed method was robust and even if condition changed,this method could still estimate vy and vx accurately.

关键词： Lateral Velocity Longitudinal velocity Unscented Kalman Filter Dugofftire model

作者: Liang Chu Yongsheng Zhang Yanru Shi Mingfa Xu Minghui Liu

作者单位: Key Laboratory of Automobile Dynamic Simulation Jilin University Changchun,China R&D Center FAW group corporation of China Changchun,China

会议类型: 国际会议

会议名称: 2010 2nd International Conference on Education Technology and Computer(第二届IEEE教育技术与计算机国际会议 ICETC 2010)

会议地点: 上海

会议语种:英文

页码: 427-432

在线出版日期: 2010-06-22（万方平台首次上网日期，不代表论文的发表时间）