Road bank angle and faults estimation using unknown input proportional-integral observer

Sentouh, Chouki; Sebsadji, Yazid; Mammar, Saïd; Glaser, Sébastien

doi:10.23919/ecc.2007.7068907

Cited by 10 publications

(8 citation statements)

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“…Similarly, although a horizontal road surface is typically assumed, [3] , [5] , [11] , and [16] consider inclination and bank angles. Estimation of the road bank angle is considered in [17] , which is based on transfer functions from the steering angle and road bank angle to the yaw rate and lateral acceleration, and in [18] , which uses an EKF to estimate the sideslip angle, which is in turn used in a linear unknown-input observer to estimate the road bank angle.…”

Section: Previous Researchmentioning

confidence: 99%

Vehicle sideslip estimation

Grip

Imsland

Johansen³

et al. 2009

IEEE Control Syst.

105

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Section: Previous Researchmentioning

confidence: 99%

Vehicle sideslip estimation

Grip

Imsland

Johansen³

et al. 2009

IEEE Control Syst.

105

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“…These include [4], which is based on transfer functions from the steering angle and road bank angle to the yaw rate and lateral acceleration, and [5], [6], which use an extended Kalman filter (EKF) to estimate the sideslip angle, which is in turn used in a linear unknown-input observer to estimate the road bank angle. Several GPS-based designs, such as [7], [8], estimate the road inclination or bank angle.…”

Section: Introductionmentioning

confidence: 99%

Estimation of road inclination and bank angle in automotive vehicles

Grip

Imsland

Johansen

et al. 2009

2009 American Control Conference

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Abstract-We extend an observer design for estimation of the vehicle sideslip angle on horizontal surfaces to include estimation of the road inclination angle and the road bank angle. The design makes use of a nonlinear road-tire friction model, and the nonlinearity of the road-tire friction forces are taken into account in the theoretical analysis of the design. Using an absolute-stability argument we show that, under a set of technical assumptions, the origin of the observer error dynamics is globally exponentially stable. Taking unknown road-surface conditions into account, we discuss simultaneous estimation of the road bank angle and a road-tire friction parameter, which is complicated by the dependence of the friction-parameter estimation on lateral excitation of the vehicle. To improve performance on low-friction surfaces, we modulate the observer gains based on a set of practical conditions. Using experimental data from a passenger car, we investigate the performance of the approach.

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“…Several research works have been conducted for road bank angle and unknown input estimation using unknown input PI observers [4,7,11,14]. In [14] an unknown input PI observer was developed for the reconstruction of vehicle lateral dynamics state while the road bank angle and the wind lateral force are considered as signal faults acting as unknown inputs.…”

Section: Introductionmentioning

confidence: 99%

“…In [14] an unknown input PI observer was developed for the reconstruction of vehicle lateral dynamics state while the road bank angle and the wind lateral force are considered as signal faults acting as unknown inputs. In [4], the study has been extended to vehicle roll movement, but the roll angle is assumed to be measured. This consideration is not so real, because its measure is still not easy.…”

Section: Introductionmentioning

confidence: 99%

“…In section 6, some experimental validation results are discussed, while section 7 wraps with some conclusions. [4,9], The vehicle lateral dynamics are modeled by considering a three degree-of-freedom bicycle vehicle model including slip, yaw and roll motions [10]. This model uses the assumption of symmetry of the vehicle and is sufficiently accurate to approximate lateral dynamics (see Fig.…”

Section: Introductionmentioning

confidence: 99%

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