A Novel Longitudinal Speed Estimator for Four-Wheel Slip in Snowy Conditions

This article proposes a novel longitudinal vehicle speed estimator for snowy roads in extreme conditions (four-wheel slip) based on low-cost wheel encoders and acceleration sensor. The tire rotation factor, η, is introduced to reduce the deviation between radius manufacturer’s marked radius. Local Vehicle Speed Estimator defined eliminate estimation error. It improves slip accuracy of four-wheel slip, even with high rate. final estimated using two fuzzy control strategies that use estimates from Experimental simulation results confirm algorithm’s validity estimating road conditions.