Title: A Gaussian filter approach for vehicle lateral velocity estimation using single-track model coupled with exponential tire characteristics

Authors: Narayana Venkata Lakshmi Bhyravajhula; Prashant G. Medewar; Gaurav Deep Upneja

Addresses: Nexteer Automotive India Technical Centre, 2nd Floor, Block 2B, Tower 3, Hibiscus, Embassy Tech Village, Deverabeesanahalli, Bangalore-560037, India ' Nexteer Automotive India Technical Centre, 2nd Floor, Block 2B, Tower 3, Hibiscus, Embassy Tech Village, Deverabeesanahalli, Bangalore-560037, India ' Nexteer Automotive India Technical Centre, 2nd Floor, Block 2B, Tower 3, Hibiscus, Embassy Tech Village, Deverabeesanahalli, Bangalore-560037, India

Abstract: Accurate estimation of vehicle lateral velocity is essential for advanced driver assistance systems (ADAS) and steer-by-wire applications, yet direct measurement remains impractical with current production sensors. The estimated lateral velocity of the vehicle can be utilised for estimating both vehicle's sideslip angle and rack force for steering systems. This paper proposes estimators based on a single-track lateral vehicle dynamics model incorporating exponential tire characteristics. Two techniques, the extended Kalman-Bucy filter (EKF) and Gaussian filter (GF), were developed and evaluated using CarSim simulations under dynamic driving conditions, including city driving, double lane change (DLC) and combined slip manoeuvres, across varying speeds and road-surfaces. Results indicate that both estimators perform similarly in low-dynamic scenarios, but the GF outperforms EKF in highly dynamic conditions. Moreover, Monte Carlo simulations confirm the GF's robustness under ±10% parameter variations. These findings demonstrate the potential of GF-based approaches to enhance vehicle state estimation reliability for safety-critical applications.

Keywords: extended Kalman filter; EKF; Gaussian filter; exponential tire model; single-track vehicle dynamics; sensitivity analysis; vehicle lateral velocity estimation; advanced driver assistance systems; ADAS; double lane change; DLC.

DOI: 10.1504/IJVP.2026.152835

International Journal of Vehicle Performance, 2026 Vol.12 No.2, pp.147 - 188

Received: 14 Jan 2025
Accepted: 10 Aug 2025
Published online: 13 Apr 2026 *

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