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arXiv · 2605.12230

Neural Network-Based Virtual Wheel-Speed Sensor for Enhanced Low-Velocity State Estimation

Hendrik Schäfke·Daniel O. M. Weber·Askar Vagapov·Christoph Schweers·Thomas Seel·Simon F. G. Ehlers
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Abstract

Accurate wheel speed information is crucial for vehicle control and state estimation. Conventional sensors suffer from quantization and latency, especially at low velocities, while motor-speed signals in electric vehicles are distorted by drivetrain torsion. This work presents a neural-network-based virtual wheel-speed sensor that fuses wheel-speed and motor-speed signals to reduce errors from both sources. Validated on real-world Volkswagen ID.7 data, the real-time capable model achieves an error reduction of up to 85% compared to the production sensor and 47% compared to an optimized zero-phase filter, providing a smooth signal for driver-assistance functions. The results demonstrate robust generalization across diverse real-world maneuvers within the vehicle platform.

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Hendrik Schäfke, Daniel O. M. Weber, Askar Vagapov, Christoph Schweers, Thomas Seel, Simon F. G. Ehlers. 2026-05-12. Neural Network-Based Virtual Wheel-Speed Sensor for Enhanced Low-Velocity State Estimation. https://arxiv.org/abs/2605.12230

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