This paper presents a comparison of observers for vehicle lateral dynamics. Three model-based observers are compared: firstly Luenberger observer with a linear stationary model, secondly Kalman filter with a non stationary model and lastly Luenberger observers for each subsystems of a Takagi-Sugeno multi-model. Moreover, an analysis of the lateral dynamics shows that the model discretisation may be problematic according to the signal sampling theorem and a solution is proposed, such that all the observers can be used on board of the vehicle.
Comparison of observers for vehicle yaw rate estimation
2018 IEEE Intelligent Vehicles Symposium (IV) ; 1925-1930
2018-06-01
2170291 byte
Conference paper
Electronic Resource
English
COMPARISON OF OBSERVERS FOR VEHICLE YAW RATE ESTIMATION
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