| 摘要 |
<p>A system (50) and a method (100) for dynamically estimating the vehicle longitudinal and lateral velocities based on information gathered from four sensors (12, 14, 16, 18) measuring the longitudinal acceleration, lateral acceleration, wheel speed and yaw rate. The present invention provides a linear-parameter-varying state observer (22) in conjunction with a gain scheduled state observer (24) to provide good estimation of the vehicle motion in linear and non-linear ranges. The present invention is not dependent on variations in vehicle parameters, requires low computing power, and achieves improved estimation by adjusting the observer gains according to the changing yaw rate.</p> |
