Estimation of longitudinal and lateral vehicle velocities: an algebraic approach

Jorge Villagra; Brigitte D'Andréa-Novel; Michel Fliess; Hugues Mounier

inria-00263844, version 1

Estimation of longitudinal and lateral vehicle velocities: an algebraic approach

Jorge Villagra^a^, 1, Brigitte D'Andréa-Novel^b^, 2, Michel Fliess () ^3, 4, Hugues Mounier ⁵

2008 American Control Conference (2008)

Résumé : 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 – Universidad Carlos III, Leganes
b – Ecole Nationale Supérieure des Mines de Paris
1 : Departamento de Ingeniería de Sistemas y Automática [Madrid]
Universidad Carlos III de Madrid
2 : Centre de CAO et Robotique (CAOR)
MINES ParisTech - École nationale supérieure des mines de Paris
3 : Laboratoire d'informatique de l'école polytechnique (LIX)
CNRS : UMR7161 – Polytechnique - X
4 : ALIEN (INRIA Futurs)
INRIA – Polytechnique - X
5 : Institut d'électronique fondamentale (IEF)
CNRS : UMR8622 – Université Paris XI - Paris Sud

inria-00263844, version 1
http://hal.inria.fr/inria-00263844
oai:hal.inria.fr:inria-00263844
Contributeur : Michel Fliess <>
Soumis le : Jeudi 13 Mars 2008, 13:16:28
Dernière modification le : Jeudi 13 Mars 2008, 13:35:17

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