Estimation of vehicle roll and road bank angle

Ryu, Jeha; Gerdes, J. Christian

doi:10.23919/acc.2004.1383772

Cited by 112 publications

(78 citation statements)

References 6 publications

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“…Note that, the DO which is intended to augment the state vector is given as: On the other hand, due to that = 0 for all ≥ 1, we obtain that the time derivative of the roll rate ( ) is unestimable through the CSISE method. To remedy this unestimation problem, we further assume that the dynamics of due to the road changes is the result of white noise forcing [16], which yields = 0. Thus, the vehicle system model used in the SISO is given as follows:…”

Section: An Illustrative Examplementioning

confidence: 99%

“…In order to illustrate the usefulness of the proposed results, we considered the dynamics of a vehicle represented by the bicycle model with a roll mode as given in [15], where the system parameters of (1)- (2) In the simulation, the disturbance observer (DO) [16] and the proposed SISO in this paper were considered. Note that, the DO which is intended to augment the state vector is given as: On the other hand, due to that = 0 for all ≥ 1, we obtain that the time derivative of the roll rate ( ) is unestimable through the CSISE method.…”

Section: An Illustrative Examplementioning

confidence: 99%

See 1 more Smart Citation

Simultaneous Input and State Estimation for Linear Continuous-Time Systems: A System Augmentation Approach

Hsieh¹

2016

Proceedings of the 2016 International Conference on Mechatronics, Control and Automation Engineering

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Abstract-This paper presents an augmented state observer design for linear time-varying continuous-time systems with unknown inputs. An equivalent augmented state system, which is free of unknown inputs, is derived for the purpose of simultaneous input and state estimation (SISE). It is shown that, through the proposed system augmentation approach, the observer design for SISE problems can be easily solved using well-known techniques. The existence condition of SISE designs is also proposed. An illustrative example is given to show the effectiveness of the proposed results.

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Section: An Illustrative Examplementioning

confidence: 99%

Section: An Illustrative Examplementioning

confidence: 99%

Simultaneous Input and State Estimation for Linear Continuous-Time Systems: A System Augmentation Approach

Hsieh¹

2016

Proceedings of the 2016 International Conference on Mechatronics, Control and Automation Engineering

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show abstract

“…1). The threedimensional model with road bank angle consideration and nonlinear tire characteristics of the four wheels vehicle behavior can be described by the following differential equations [11] [14]: …”

Section: Vehicle Model Descriptionmentioning

confidence: 99%

“…In [10] the authors propose a descriptor system based approach for a PI observer design in order to estimate the lateral vehicle dynamics in combination with the estimation of possible yaw moment disturbance input, wind gust input or road bank input. A paper given in [11] presents a method for identifying road bank and vehicle roll separately using a disturbance observer and a vehicle dynamic model. But these methods are only reliable in the linear region because they consider a linear approximation of the cornering forces.…”

Section: Introductionmentioning

confidence: 99%

Design of unknown input fuzzy observer for vehicle dynamics estimation with road geometry consideration

Dahmani¹,

Chadli²,

Rabhi³

et al. 2011

Proceedings of the 7th Conference of the European Society for Fuzzy Logic and Technology (EUSFLAT-2011)

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A methodology for estimating vehicle dynamics whith road geometry consideration is presented in this paper. Vehicle sideslip and roll parameters are estimated in the presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. This information about the road geometry and vehicle parameters is needed in the driver assistance systems to be able to calculate the risk index of a rollover or a lane departure crashes. Taking into account the unmeasured variables, an unknown inputs (TS) observer is then designed on the basis of the measure of the roll rate, the steering angle and the lateral offset given by the distance between the road centerline and the vehicle axe at a look-ahead distance. Synthesis conditions of the proposed fuzzy observer are formulated in terms of Linear Matrix Inequalities (LMI) using Lyapunov method. Simulation results show good efficiency of the proposed method to estimate both vehicle dynamics and road geometry.

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“…INS sensors are commonly integrated with GPS measurements in a Kalman filter (KF) or an Extended Kalman Filter (EKF) structure. In literature different KF-based GPS/INS integration methods are proposed and they can be classified into two categories: [34], [35] and [36], Redmill et al [37]). …”

Section: Gps Components and Control Strategymentioning

confidence: 99%

Innovative fuel cell buses with automated guidance by GPS for public transport application

Andriollo¹,

Martinelli²,

Morini³

et al. 2007

WIT Transactions on the Built Environment, Vol 96

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This paper proposes the use of an innovative transport system based on electric buses, with on-board energy sources and automated guidance control by GPS. The on-board energy sources consist of fuel cells, supplied by ethanol fuel with or without on-board catalytic reformer. Electrical storage systems (batteries, supercapacitors) integrate the fuel cell for more efficient management of the energy exchange with the electric propulsion motors. The vehicle guidance and control are managed according to the signals provided by one or more GPS receivers, in conjunction with an inertial platform and numerical cartography. In this way the electrical steering, braking and propulsion functions can be governed electronically by means of drive-by-wire technology. This control leads to less driver engagement, full flexibility in the route definition and comfortable operation because of the optimised management of both the propulsion and the steering system. The features of the proposed transportation system are analysed and discussed in the paper.

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Estimation of vehicle roll and road bank angle

Cited by 112 publications

References 6 publications

Simultaneous Input and State Estimation for Linear Continuous-Time Systems: A System Augmentation Approach

Simultaneous Input and State Estimation for Linear Continuous-Time Systems: A System Augmentation Approach

Design of unknown input fuzzy observer for vehicle dynamics estimation with road geometry consideration

Innovative fuel cell buses with automated guidance by GPS for public transport application

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