Vehicle acceleration is an important variable for many automotive control applications. In this paper, we present an approach to estimate vehicle acceleration from vehicle speed data coming from the CAN (Controller Area Network) bus. The proposed method, which can be seen as an extension of the Savitzky-Golay filter to non-uniformly sampled signals, re-samples them to a constant period while filtering noise coming from different sources and also provides a proper estimation of vehicle acceleration. We also consider the frequency response of the filtering effect of the method. Finally, some practical considerations for efficient implementation of the algorithm are given.
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