Using a 3-degree-of-freedom lateral dynamic vehicle-trailer system model with the LuGre tyre model, this paper proposes a constrained unscented transformation based scheme for estimating the lateral velocity of a vehicle trailer. It is shown that the proposed lateral velocity estimation scheme is robust to the road condition. An affine quadratic stability approach is used to analyze the stability of the proposed estimation scheme. Simulations studies in CarSim/Simulink along with experimental tests are used to validate the proposed scheme. The test results confirm the accuracy of the developed estimation scheme and convergence of the vehicle-trailer lateral velocity estimate to the actual value.

本文利用三自由度横向动态车辆-拖车系统模型和 LuGre 轮胎模型，提出了一种基于约束无迹变换的车辆拖车横向速度估计方案。结果表明，所提出的横向速度估计方案对道路状况具有鲁棒性。仿射二次稳定性方法用于分析所提出的估计方案的稳定性。CarSim/Simulink 中的仿真研究以及实验测试用于验证所提出的方案。测试结果证实了所开发的估计方案的准确性以及车辆-挂车横向速度估计与实际值的收敛性。