A Novel Longitudinal Speed Estimator for Fully Automation Ground Vehicle on Cornering Maneuver

Guanyu Wang, Shengbo Li
2009 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 the
more » ... and then the relationship between wheel absolute speed and wheel angular speed is obtained. Subsequently, we calculate the longitudinal speed at center of gravity by using a planar vehicle model to describe the kinetic motion of vehicle body. With a passenger car equipped with differential GPS and other on-board sensors, a series of cornering experiments are carried out and demonstrate the success of the proposed estimator.
doi:10.1109/aici.2009.357 fatcat:dbqpnwgeurd3rbqbh6xzqi5sfy