ABSTRACT
ABSTRACT: The wheel speed sensor is mainly utilized to measure the vehicle velocity. Because of the mechanism separation of rotary and fixed parts, the wheel speed varies with inducing factors, such as body pitching, suspension deflecting and wheel load fluctuating. Therefore, the wheel speed variation could be utilized to estimate vehicle attitude states. In this paper, correlations between the wheel speed variation and the inducing factors were formulated and confirmed using actual vehicle tests. Based on the correlation, an estimation algorithm using a Kalman filter to calculate the body attitude state was proposed. In a test vehicle using the proposed algorithm, pitching velocity values of the estimation and the measured were in good agreement. In an application of the proposed algorithm, a driving torque control using the estimation pitching velocity was explored. An actual vehicle using the driving torque control had good pitching performances in the resonant region.
