In this paper, vehicle longitudinal velocity during the braking process is estimated by measuring the wheels speed. Here, a new algorithm based on the unknown input Kalman filter is developed to estimate the vehicle longitudinal velocity with a minimum mean square error and without using the value of braking torque in the estimation procedure. The stability and convergence of the filter are analysed and proved. Effectiveness of the method is shown by designing a real experiment and comparing the estimation result with actual longitudinal velocity computing from a three-axis accelerometer output.
Vehicle longitudinal velocity estimation during the braking process using unknown input Kalman filter
Vehicle System Dynamics ; 53 , 10 ; 1373-1392
2015-10-03
20 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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