Title: A study on lateral speed estimation methods

Authors: Ali Y. Ungoren, Huei Peng, H.E. Tseng

Addresses: Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, Ann Arbor, MI 48109-2125, USA. ' Department of Mechanical Engineering, University of Michigan, 2250 G.G. Brown, Ann Arbor, MI 48109-2125, USA. ' Scientific Research Laboratory, Ford Motor Company, USA

Abstract: The estimation of vehicle lateral speed, a critical variable for vehicle stability control, four-wheel-steering and other advanced dynamic control systems, is studied in this paper. We present three different approaches, one each from three categories: transfer function approach, state-space approach, and kinematics approach. The first two methods rely on a vehicle dynamic (bicycle) model, and the last approach is based on the kinematics relationship of measured signals. The basic formulation of all three methods assumed that the road bank angle is negligible, and thus needs to be enhanced by a road bank angle estimation algorithm to work satisfactorily when the road bank is significant. The performance of these three (enhanced) methods is investigated using simulation and experimental data. For the experimental verification, we present four cases: nominal (high friction, flat road), banked road, low-friction, and low-friction-near-spin. Weakness of the three estimation algorithms is discussed.

Keywords: active safety; active yaw control; lateral velocity estimation; side slip angle estimation; vehicle stability control; vehicle lateral speed; dynamic control.

DOI: 10.1504/IJVAS.2004.004458

International Journal of Vehicle Autonomous Systems, 2004 Vol.2 No.1/2, pp.126 - 144

Available online: 30 Apr 2004 *

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