Method and apparatus for estimating the lateral velocity of a vehicle
2007
A method for estimating the lateral velocity of a vehicle, wherein a disturbance observer in which a is used for the friction between the vehicle and the road characteristic variable as a disturbance based on a non-linear tire model is used as an observer of the lateral velocity, characterized in that the disturbance observer expressed by an equation of the form is writable, in which: and wherein r
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