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�������պ����ѧѧ�� 2011, Vol. 37 Issue (1) :67-71    DOI:
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���ܸ�, ���, �����*
�������պ����ѧ ��ͨ��ѧ�빤��ѧԺ, ���� 100191
Estimation of vehicle speed based on Kalman filter and ABS control inputs
Ding Nenggen, Li Danhua, Yu Guizhen*
School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Based on the existing algorithms, an algorithm of vehicle speeds for anti-lock braking system (ABS) was investigated using parameter adaptive Kalman filter and ABS control inputs. With the four wheel speeds as inputs, the vehicle braking deceleration was estimated utilizing ABS control inputs. Then the speeds on both left and right sides were estimated independently using information of wheel speeds and deceleration. According to different slip conditions, the covariances were tuned using the parameter adaptive Kalman filter. At last, the proposed algorithm was evaluated using real test data of ABS braking, and results show that the estimated speeds are reasonable under various road conditions.
Keywords�� vehicle speed estimation   adaptive algorithms   Kalman filter     
Received 2009-11-18;

������Ȼ��ѧ����������Ŀ(50908008); ����863�ƻ�������Ŀ (2009AA11Z216)

About author: ���ܸ�(1965-),��,�����ߺ���,������,dingng@buaa.edu.cn.
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Ding Nenggen, Li Danhua, Yu Guizhen.Estimation of vehicle speed based on Kalman filter and ABS control inputs[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(1): 67-71
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