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2009 International Conference on Artificial Intelligence and Computational Intelligence
For a fully automation ground vehicle, the accurate longitudinal speed becomes more and more important due to the increasing demands on tracking of position, velocity and acceleration. Based on low-cost wheel speed encoders, this paper proposes a novel longitudinal speed estimator for vehicles on cornering maneuver. In the estimator, a gain-varying Kalman estimator is designed to output lateral states of vehicle body. On its basis, the side slip dynamics of tyres are modeled and then thedoi:10.1109/aici.2009.357 fatcat:dbqpnwgeurd3rbqbh6xzqi5sfy