Abstract
Estimation of vehicle longitudinal acceleration is very important in vehicle active safety control system. In this paper, two driving conditions of a 4WD off-road vehicle are divided by vehicle signals such as steering angle. Under different working conditions, different estimation algorithms are adopted. In the straight driving condition, the longitudinal speed was estimated by adjusting the variance weight of acceleration Kalman observation noise based on kinematics method. For steering conditions, in order to obtain the longitudinal velocity at the center of mass, by dynamic method, a lateral state estimator was designed and tire sideslip dynamics was modeled. The CarSim-Simulink co-simulation results show that the proposed algorithm has high accuracy and strong practicability.
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