Design for Vehicle Velocity Estimation Based on Reduced-Order Observer

A nonlinear reduced-order vehicle velocity observer based on vehicle dynamics is proposed. Firstly, the longitudinal force of the tire is obtained by cascade tire-force estimation method based on the sliding mode observer, and the results are verified. Then, based on the simplified three-degree-of-freedom vehicle model, a nonlinear reduced order observer with yaw rate as the correction term is designed. A large number of experiments are used to select the parameters and gain of the sliding mode observer and reduced-order velocity observer. Finally, to verify the effectiveness of the observer, the simulation experiments were carried out under various conditions which using the high precision vehicle dynamics software veDYNA. The results show that the estimated vehicle velocity observer based on vehicle dynamics can achieve the expected estimation effect.