Estimation of Vehicle Velocity and Slip with an ExperimentalStudy based on Fuzzy Logic and Kalman Filter

Finding the exact longitudinal speed of the vehicle is crucial for an accurate estimation of the slip rate. The vehicle sliprate is directly depended on the vehicle speed. In most of the vehicles, speed sensor is installed on differential bracket. Onsevere braking, on slippery surface, wheel-lock threshold would be reached. Despite the fact, in this case the wheel speedsensor will report zero velocity which is not reliable. This paper presents a developed method with experimental studythat can estimate vehicle speed with an error of less than % 4 in different conditions of driving using Kalman filter andfuzzy rules

Keywords:

Experimental study , Fuzzy logic , Kalman filter , Offset estimation , Vehicle speed