400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (724) 776-4841 Fax: (724) 776-5760 Web: www.sae.org SAE TECHNICAL PAPER SERIES 2002-01-2229 Vehicle Speed Estimation Using Accelerometer and Wheel Speed Measurements Chul Ki Song School of Mechanical and Aerospace Engineering, ReCAPT, Gyeongsang National University Michael Uchanski Ségime J. Karl Hedrick Department of Mechanical Engineering, University of California, Berkeley Reprinted From: Proceedings of the 2002 SAE International Body Engineering Conference and Automotive & Transportation Technology Conference on CD-ROM (IBAT2002CD) International Body Engineering Conference & Exhibition and Automotive & Transportation Technology Conference Paris, France July 9–11, 2002Downloaded from SAE International by Univ of Nottingham - Kings Meadow Campus, Friday, August 10, 2018The appearance of this ISSN code at the bottom of this page indicates SAE ’s consent that copies of the paper may be made for personal or internal use of specific clients. This consent is given on the condition, however, that the copier pay a per article copy fee through the Copyright Clearance Center, Inc. OperationsCenter, 222 Rosewood Drive, Danvers, MA 01923 for copying beyond that permitted by Sections 107 or108 of the U.S. Copyright Law. This consent does not extend to other kinds of copying such as copying forgeneral distribution, for advertising or promotional purposes, for creating new collective works, or forresale. Quantity reprint rates can be obtained from the Customer Sales and Satisfaction Department.To request permission to reprint a technical paper or permission to use copyrighted SAE publications in other works, contact the SAE Publications Group. No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without the prior wr itten permission of the publisher. ISSN 0148-7191 Copyright © 2002 Society of Automotive Engineers, Inc. Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by which discussions will be printed with the paper if it is published inSAE Transactions. For permission to publish this paper in full or in part, contact the SAE Publications Group. Persons wishing to submit papers to be considered for presentation or publication through SAE should send the manuscript or a 3 00 word abstract of a proposed manuscript to: Secretary, Engineering Meetings Board, SAE. Printed in USAAll SAE papers, standards, and selected books are abstracted and indexed in theGlobal Mobility DatabaseDownloaded from SAE International by Univ of Nottingham - Kings Meadow Campus, Friday, August 10, 20182002-01-2229 Vehicle Speed Estimation Using Accelerometer and Wheel Speed Measurements Chul Ki Song School of Mechanical and Aerospace Engineering, ReCAPT, Gyeongsang National University Michael Uchanski Ségime J. Karl Hedrick Department of Mechanical Engineering, University of California, Berkeley Copyright © 2002 Society of Automotive Engineers, Inc. ABSTRACT This paper treats the problem of estimating the longitudinal velocity of a braking vehicle using measurements from an accelerometer and wheel speed data from standard antilock braking wheel speed sensors. We develop and experimentally test three velocity estimation algorithms of increasing complexity. The algorithm that works the best gives peak errors of less than 3 percent even when the accelerometer signal is significantly biased. INTRODUCTION WHY ESTIMATE VEHICLE SPEED? One reason the absolute vehicle speed, v, is of interest is because it—along with the angular speed of the wheels, ωi,, and the radii of the tires, r—can be used to calculate the longitudinal slip ratio si at the vehicle’s wheels: 4 , 3 , 2 , 1 =−= ivv rsi iω (1) Longitudinal slip is important because it is related to longitudinal tir