{"id":"https://openalex.org/W1483068588","doi":"https://doi.org/10.23919/ecc.2009.7075122","title":"Estimation of road vehicle yaw rate using a virtual sensor and an observer","display_name":"Estimation of road vehicle yaw rate using a virtual sensor and an observer","publication_year":2009,"publication_date":"2009-08-01","ids":{"openalex":"https://openalex.org/W1483068588","doi":"https://doi.org/10.23919/ecc.2009.7075122","mag":"1483068588"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2009.7075122","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7075122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043579355","display_name":"M\u00fcmin Tolga Emirler","orcid":"https://orcid.org/0000-0003-0870-9762"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"M\u00fcmin Tolga Emirler","raw_affiliation_strings":["MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey"],"affiliations":[{"raw_affiliation_string":"MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004017744","display_name":"Kerim Kahraman","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kerim Kahraman","raw_affiliation_strings":["MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey"],"affiliations":[{"raw_affiliation_string":"MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064375127","display_name":"Bilin Aksun G\u00fcven\u00e7","orcid":"https://orcid.org/0000-0003-0836-9286"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bilin Aksun G\u00fcven\u00e7","raw_affiliation_strings":["MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey"],"affiliations":[{"raw_affiliation_string":"MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029334337","display_name":"Levent G\u00fcven\u00e7","orcid":"https://orcid.org/0000-0001-8823-1820"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Levent G\u00fcven\u00e7","raw_affiliation_strings":["MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey"],"affiliations":[{"raw_affiliation_string":"MEKAR (Mechatronics Research Labs) and Automotive Control and Mechatronics Research Center, Department of Mechanical Engineering, İstanbul Technical University, Gümüşsuyu, Taksim, TR-34437, Turkey","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081457649","display_name":"Bar\u0131\u015f Efendio\u011flu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162904","display_name":"T\u00fcrk Otomobil Fabrikas\u0131 (Turkey)","ror":"https://ror.org/05jfpn078","country_code":"TR","type":"company","lineage":["https://openalex.org/I4210162904"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Bar\u0131\u015f Efendio\u011flu","raw_affiliation_strings":["TOFAŞ (The Turkish Automotive Factory Incorporation) - Platform R&D Corporation, Bursa, Turkey"],"affiliations":[{"raw_affiliation_string":"TOFAŞ (The Turkish Automotive Factory Incorporation) - Platform R&D Corporation, Bursa, Turkey","institution_ids":["https://openalex.org/I4210162904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043579355"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.15904508,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4576","last_page":"4581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.9403902292251587},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6067861318588257},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5893844962120056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5367395281791687},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5278489589691162},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.5035433173179626},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.46249035000801086},{"id":"https://openalex.org/keywords/driving-simulator","display_name":"Driving simulator","score":0.4558076858520508},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44450849294662476},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4354642331600189},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.433937668800354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42823830246925354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30944541096687317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.164810448884964},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11509975790977478}],"concepts":[{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.9403902292251587},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6067861318588257},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5893844962120056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5367395281791687},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5278489589691162},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.5035433173179626},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.46249035000801086},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.4558076858520508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44450849294662476},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4354642331600189},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.433937668800354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42823830246925354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30944541096687317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.164810448884964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11509975790977478},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2009.7075122","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7075122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/51903","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/51903","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W592312525","https://openalex.org/W1915132274","https://openalex.org/W1994993102","https://openalex.org/W1998509663","https://openalex.org/W2026280498","https://openalex.org/W2055783415","https://openalex.org/W2148818569","https://openalex.org/W2159989931","https://openalex.org/W2161089995","https://openalex.org/W2168187225","https://openalex.org/W2169120915","https://openalex.org/W2287993424"],"related_works":["https://openalex.org/W2538753617","https://openalex.org/W2065690821","https://openalex.org/W3012153955","https://openalex.org/W2783241501","https://openalex.org/W2490207611","https://openalex.org/W3171346245","https://openalex.org/W2990669228","https://openalex.org/W3160524612","https://openalex.org/W623963587","https://openalex.org/W774676222"],"abstract_inverted_index":{"Vehicle":[0,36],"yaw":[1,37,55,96,114,131],"stability":[2,16],"control":[3],"systems":[4,11],"like":[5,25,62],"ESP":[6,45],"are":[7,73,123,135],"important":[8],"active":[9],"safety":[10],"used":[12,124,159],"for":[13,68],"maintaining":[14],"lateral":[15],"of":[17,52,94,105,112,165],"the":[18,40,50,91,95,107,110,162,166],"vehicle":[19,54,130],"during":[20],"unexpected,":[21],"adverse":[22],"driving":[23,28],"situations":[24],"\u03bc-split":[26],"braking,":[27],"on":[29,58],"icy":[30],"road":[31],"and":[32,99,120,144],"sudden":[33],"side":[34],"wind.":[35],"rate":[38,56,97,115],"is":[39,158],"key":[41],"data":[42],"in":[43,109,125,169],"an":[44,71,85,102],"system.":[46],"This":[47],"paper":[48,127],"explores":[49],"possibility":[51],"estimating":[53],"based":[57],"other":[59],"available":[60],"measurements":[61],"tire":[63],"speeds.":[64],"The":[65],"motivating":[66],"reasons":[67],"using":[69,79,137],"such":[70],"estimator":[72],"to":[74,89,100,128,160],"reduce":[75],"sensor":[76,82,87,98,116],"costs":[77],"by":[78],"a":[80,113,141,145,170],"virtual":[81],"rather":[83],"than":[84],"actual":[86],"and/or":[88],"check":[90,161],"correct":[92],"operation":[93,164],"have":[101],"alternative":[103],"method":[104],"closing":[106],"loop":[108],"case":[111],"malfunction.":[117],"Conventional":[118],"observers":[119],"Kalman":[121],"filters":[122],"this":[126],"estimate":[129],"rate.":[132],"These":[133],"estimators":[134,168],"tested":[136],"offline":[138],"simulations":[139],"with":[140,154],"single":[142],"track":[143],"higher":[146],"fidelity":[147],"Carmaker":[148],"model.":[149],"A":[150],"hardware-in-the-loop,":[151],"real-time":[152],"simulator":[153],"driver":[155],"input":[156],"capability":[157],"successful":[163],"designed":[167],"more":[171],"realistic":[172],"manner.":[173]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}