Citation

Hashemi E, Zarringhalam R, Khajepour A, Melek W, Kasaiezadeh A, Chen SK. Veh. Syst. Dyn. 2017; 55(5): 648-667.

Copyright

(Copyright © 2017, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2016.1275706

PMID

unavailable

Abstract

This paper proposes an approach for the estimation of the road angles independent from the road friction conditions. The method employs unknown input observers on the roll and pitch dynamics of the vehicle. The correlation between the road angle rates and the pitch/roll rates of the vehicle is also investigated to increase the accuracy. Dynamic fault thresholds are implemented in the algorithm to ensure reliable estimation of the vehicle body and road angles. Performance of the proposed approach in reliable estimation of the road angles is experimentally demonstrated through vehicle road tests. Road test experiments include various driving scenarios on different road conditions to thoroughly validate the proposed approach.

Language: en

Keywords

bank angle estimation; discrete-time unknown input observers; Road grade estimation; road-body kinematics; vehicle roll and pitch estimation