Volume 37 Issue 1
Jan.  2011
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Ding Nenggen, Li Danhua, Yu Guizhenet al. Estimation of vehicle speed based on Kalman filter and ABS control inputs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(1): 67-71. (in Chinese)
Citation: Ding Nenggen, Li Danhua, Yu Guizhenet al. Estimation of vehicle speed based on Kalman filter and ABS control inputs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(1): 67-71. (in Chinese)

Estimation of vehicle speed based on Kalman filter and ABS control inputs

  • Received Date: 18 Nov 2009
  • Publish Date: 31 Jan 2011
  • 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.

     

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  • [1] Jiang F,Gao Z.An adaptive nonlinear filter approach to the vehicle velocity estimation for ABS // Proceedings of the 2000 IEEE International Conference on Control Applications.Anchorage:IEEE Control Systems Society,2000:25-27 [2] 王伟达,丁能根,徐向阳,等.基于轮速和压力控制状态信息的ABS参考车速算法研究及其试验验证[J].中国机械工程,2008,19(3):370-373 Wang Weida,Ding Nenggen,Xu Xiangyang,et al.Investigation and test validation of vehicle reference speed algorithm for ABS based on the information of wheel speeds and pressure control states[J].China Mechanical Engineering,2008,19(3):370-373 (in Chinese) [3] Kobayashi K,Cheok K,Watanabe K.Estimation of absolute vehicle speed using fuzzy logic rule-based Kalman filter // Proceeding of the American Control Conference.Seattle:The American Automatic Control Council,1995:3086-3090 [4] Ljung L.System identification:theory for the user [M].2nd ed.New Jersey:Prentice Hall,1999
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