Estimation of longitudinal and lateral vehicle velocities: An algebraic approach

Abstract

Abstract-This paper presents a new approach for estimating vehicle velocities at its gravity center. The proposed strategy relies on recent algebraic techniques for numerical differentiation and diagnosis. We do not use any tire model in order to obtain an estimation, which is robust with respect to model uncertainties (friction, . . . ). All available measurements in a mass-production car are however exploited.

A diagnosis-based approach for tire–road forces and maximum friction estimation

“…Let us emphasize finally that the practical usefulness in the automotive industry of these new algebraic techniques is confirmed by other successful applications (Abouaissa, Fliess, & Join, 2008;d'André a-Novel et al, 2010;Join, Masse, & Fliess, 2008;Villagra et al, 2009Villagra et al, , 2008aVillagra et al, , 2008b.…”

“…Longitudinal and lateral velocities (V x , V y ) are the first step to obtain any information about the tire-road interaction. The work (Villagra, d'André a-Novel, Fliess, & Mounier, 2008b) solves this problem without any vehicle nor road parameter. Two natural byproducts of this estimation algorithm are the slip ratio t and the sideslip angle d i , where the subscript i¼f,r denotes front and rear, respectively.…”

“…As explained in Section 2, besides the longitudinal and lateral velocities knowledge (see Villagra et al, 2008b), one of the first steps in the global estimation scheme is to obtain an estimator for vertical loads in the tire-road interface. They may be pretty well approached by considering pitch rate and vertical velocity steadystate equations (cf.…”

Robust grey-box closed-loop stop-and-go control

“…The stop-and-go system uses radar information and CAN 2 bus accessible data to generate, via a dynamic model and a reliable follower velocity estimation (see e.g. [18]), the desired acceleration. This model provides a safe and comfortable reference inter-distance between the leader and the following vehicle.…”

Structured Estimation of Tire Forces and the Ground Slope Using SM Observers

“…He develops a relation between μ and the wheel slip ratio s. In [6,7], Ray estimates the forces on the tires with an extended Kalman filter. Villagra et al [8] presents an estimation of the road maximum adherence μ based an algebraic approach using ALIEN algorithms. In [9], Gustafsson derives a scheme to identify different classes of roads.…”