Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter 2007-01-0808
A nonlinear observer for automotive vehicle velocity estimation in presence of varying friction and road bank angles is presented, and validated and compared to an Extended Kalman Filter (EKF) implemented for the same purpose. The performance of the nonlinear observer is as good as the EKF, while having significantly lower computational complexity.
Citation: Imsland, L., Grip, H., Johansen, T., Fossen, T. et al., "Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter," SAE Technical Paper 2007-01-0808, 2007, https://doi.org/10.4271/2007-01-0808. Download Citation
Lars Imsland, Håvard Fjær Grip, Tor A. Johansen, Thor I. Fossen, Jens C. Kalkkuhl, Avshalom Suissa
SINTEFICT, Applied Cybernetics, DaimlerChrysler Research and Technology
SAE World Congress & Exhibition
Vehicle Dynamics & Simulation, 2007-SP-2138, SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems-V116-6