A nonlinear observer for estimation of lateral and longitudinal velocity of automotive vehicles is proposed, based on acceleration and yaw rate measurements in addition to wheel speed and steering angle measurements. Stability of the observer is proved in the form of input-to-state stability of the observer error dynamics, under an assumption on the friction model. This assumption is treated with some detail. The observers are validated on experimental data from cars.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear Observer for Vehicle Velocity Estimation


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Suissa, Avshalom (Autor:in) / Kalkkuhl, Jens C. (Autor:in) / Imsland, Lars (Autor:in) / Fossen, Thor I. (Autor:in) / Johansen, Tor A. (Autor:in)

    Kongress:

    SAE 2006 World Congress & Exhibition ; 2006



    Erscheinungsdatum :

    2006-04-03




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Nonlinear observer for vehicle velocity estimation

    Imsland,L. / Johansen,T.A. / Fossen,T.I. et al. | Kraftfahrwesen | 2006


    2006-01-1282 Nonlinear Observer for Vehicle Velocity Estimation

    Imsland, L. / Johansen, T. A. / Fossen, T. I. et al. | British Library Conference Proceedings | 2006


    Disturbance Observer for Lateral Velocity Estimation

    Lakehal-ayat, M. / Tseng, H. E. / Mao, Y. et al. | British Library Conference Proceedings | 2006


    AVEC060194 Disturbance Observer for Lateral Velocity Estimation

    Lakehal-ayat, M. / Tseng, H. E. / Mao, Y. et al. | British Library Conference Proceedings | 2006


    Vehicle nonlinear observer for state and tire-road friction estimation

    Yacine, Zedjiga / Ichalal, Dalil / Oufroukh, Naima Ait et al. | IEEE | 2013