Nonlinear Observer for Vehicle Velocity Estimation 2006-01-1282
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.