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Abstract�In order to meet the requirements of lateral velocity (Vy) and longitudinal velocity (vx) in vehicle active safety control systems, and to modity the impact of noise change on the estimation accuracy, a novel method based on Adaptive Kalman Filter (AKF) is proposed for estimation of vy and Vx in this paper by updating the mean and covariance of noise online. This method is evaluated under a variety of driving conditions and the estimation values are compared with simulator values from CarSim. The results demonstrate that the proposed method is robust and can improve the estimation accuracy of Vy and Vx.

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