This paper is mainly devoted to estimating the lateral velocity of vehicle with an observer synthesis method using a cost-effective 6D inertial measurement unit. The four sources of observer to be synthesized come from the dynamics model, the kinematics model, and a LuGre tire model, respectively. The weight of each source is calculated by considering the nonlinear extent of each tire by means of the adaptation of tire cornering stiffness, which is adapted and updated using the dynamics model observer with the information obtained from the kinematics model observer. Then using the weighted sum of the four sources as the reference information for a modified kinematics observer, the final estimation can provide smooth and accurate results that are robust to sensor drifts and measurement noise, which is verified with several dSPACE based hardware-in-the-loop simulations.

本文主要致力于使用具有成本效益的6D惯性测量单元的观察者综合方法估算车辆的横向速度。要合成的观察者的四个来源分别来自动力学模型，运动学模型和LuGre轮胎模型。每个来源的权重是通过考虑轮胎的侧偏刚度来考虑每个轮胎的非线性程度而计算出来的，轮胎的偏角刚度是使用动力学模型观察器根据从运动学模型观察器获得的信息进行适应和更新的。然后，使用四个源的加权总和作为修改后的运动学观察者的参考信息，最终估算可以提供平滑且准确的结果，这些结果对于传感器漂移和测量噪声具有鲁棒性，