Vehicle reference speed determination using adaptive Kalman filter algorithm

To improve slip-rate calculation accuracy of braking wheels for vehicle anti-lock braking system (ABS) control process, the adaptive Kalman filter algorithm was adopted to realize estimation of vehicle reference speed. In the reference speed estimation period, the basic information was rotation speed signal from 4 braking wheels of the car. The effectiveness of this new method was checked by using pragmatic road test data that had been collected on the snow-covered road, dry asphalt road, and transition coefficient road surface respectively.