吉林大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (增刊): 85-0089.

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Vehicle velocity estimation based on unscented kalman filter

ZHANG Yong-sheng1, CHU Liang1, SHI Yan-ru1, XU Ming-fa1, LIU Hong-wei2   

  1. 1.State Key Laboratory of Automobile Dynamic Simulation, Jilin University,Changchun 130022,China;2. College of Automotive Engineering, Jilin University, Changchun 130022,China
  • Received:2010-05-22 Online:2010-09-01 Published:2010-09-01

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Abstract:

In order to meet the requirements of lateral velocity and longitudinal velocity in vehicle active safety control systems, a novel method based on unscented kalman filter (UKF) was proposed for estimation of lateral velocity and longitudinal velocity. This method was evaluated under a variety of driving conditions and the estimation values were compared with simulator values from CarSim. The results demonstrate that the proposed method is robust and can improve the estimation accuracy of lateral velocity and longitudinal velocity.

Key words: vehicle engineering, unscented Kalman filter, vehicle velocity, HSRI tire model

CLC Number: 

  • U461.6
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