Vehicle Roll and Road Bank Angles Estimation

Sebsadji, Yazid; Glaser, Sébastien; Mammar, Saïd; Netto, Mariana

doi:10.3182/20080706-5-kr-1001.01202

Cited by 17 publications

(9 citation statements)

References 10 publications

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“…Consequently the merging algorithms have as inputs, the corrected proprioceptive sensors readings. The used bank angle is obtained from a recent algorithm based on the unknown input proportional integral observer, presented in [10].…”

Section: Corrections On Proprioceptive Sensors Readings a New Smentioning

confidence: 99%

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Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Ndjeng¹,

Gruyer²,

Glaser³

2008

2008 11th International IEEE Conference on Intelligent Transportation Systems

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This paper presents the localization problem of outdoor vehicles using Interacting Multiple Model (IMM) and Extended Kalman Filter (EKF), in their predictive step without exteroceptive sensors data. Usually, hybridization operates between exteroceptive sensors (e.g. GNSS 1 ) and proprioceptive sensors (e.g. Odometer, Inertial Measurement Unit etc.) through a merging algorithm. Common experiments use the GPS receiver PPS time for stamping the odometric, gyrometric and IMU measurements, after what all these sensors are in the same UTC reference time. Now it is well known that the low cost GNSS devices have a very low frequency compared to proprioceptive sensors, combined to a low accuracy. Therefore in order to assess the vehicle positioning at higher frequency for safety applications, the sensors measurements are generally synchronized before being exploited in the merging algorithm. In our approach, the sensors remain in their original frequencies. The objective is to design a reliable and robust system that exploits asynchronous data. In order to reach this goal it is important to guarantee accuracy and integrity of filters even during the predictive steps, when exteroceptive GNSS data are not available: that is proprioceptive-sensors based positioning. We introduce in this paper, a study on the influence of the road bank angle assessment on the output. This parameter is used to correct the gyrometric and inertial unit measurements leading to an improvement of both IMM and EKF predictive output positioning. Tests performed with real data proved the suitability of introducing this parameter in the system.

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Section: Corrections On Proprioceptive Sensors Readings a New Smentioning

confidence: 99%

“…In this paper, we use results of this attribute assessment obtained with an algorithm presented in [10], as a system known input. This attribute is introduced in a new designed architecture to correct the sensors readings and get the filter inputs closer to real values.…”

Section: Introductionmentioning

confidence: 99%

Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Ndjeng¹,

Gruyer²,

Glaser³

2008

2008 11th International IEEE Conference on Intelligent Transportation Systems

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“…The sideslip and road bank angles estimation problems have been already treated in several works like in [9], [8], [23], [21], [28], [10], [5], [3], [24], [1]. Some of these works assume that the vehicle model parameters are well known which is not generally the case.…”

Section: Introductionmentioning

confidence: 99%

Continuous-Time Switched H<inf>∞</inf> Proportional-Integral observer: Application for sideslip and road bank angles estimation

Menhour

Koenig

d’Andréa-Novel

2014

2014 European Control Conference (ECC)

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In this work, a Continuous-Time Switched H ∞ Proportional-Integral (CTSH ∞ PI) observer is presented. The estimation method is based on a proportional-integral observer introduced by [13], [11], [12]. The estimation method is used to estimate simultaneously the state variables and unknown inputs of switched systems. A design method is established using a common Lyapunov function and H ∞ norm. Its stability and global convergence conditions are proved and expressed in term of LMIs. All conditions are established under given switching signals. The estimation method is applied in vehicle dynamics to estimate simultaneously the vehicle sideslip angle and road bank angle. Moreover, the switching signal is deduced from measured premise variables. Simulation tests with experimental data are included to demonstrate the advantage of this method.

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“…For lateral vehicle control, steering angle or steering torque inputs are used (see, for example, Menhour et al, 2014a;Menhour et al, 2012c;Cerone et al, 2009;Marino and Cinili, 2009;Plöchl and Edelmann, 2007;Zheng et al, 2006;Ackermann et al, 1995), while for longitudinal vehicle control, braking torque or driving torque inputs are used (see, for example, Menhour et al, 2014b;Martinez and de Wit, 2007;Nouvelière and Mammar, 2007;Mammar and Netto, 2004). Moreover, the road bank and sideslip angle estimation problem has also been treated in several published works (see Imsland et al, 2007;Menhour et al, 2012b;Sebsadji et al, 2008, for road bank angle estimation and Kanghyun et al, 2013;Doumiati et al, 2012;Baffet et al, 2009, for sideslip angle estimation problem). It should be pointed out that the literature on the vehicle dynamics control and estimation problem is abundant and the list of works cited here is not exhaustive.…”

Section: Introductionmentioning

confidence: 99%

Steering vehicle control and road bank angle estimation: application for diagnosis of vehicle limits in bend

Menhour

Charara

Lechner³

2014

IJVAS

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This paper deals with the diagnosis of the critical driving situations. This work is divided into three parts: the first one presents two steering controllers using the sliding mode and the switched H ∞ controllers, the second one describes an unknown input sliding mode observer, while the last one presents an approach to the diagnosis of critical driving situations. All existence conditions are established using the Lyapunov approach. Simulations are conducted to highlight the efficiency of the proposed approach using the experimental data recorded by an instrumented Peugeot 307 laboratory car. The diagnosis of the critical driving situations is achieved by the speed extrapolation concept using simultaneously a non-linear model, a steering control and road bank observer. The speed extrapolation concept is used in order to evaluate situations under high dynamic loads on a bend, using stability of the sideslip motion.

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Vehicle Roll and Road Bank Angles Estimation

Cited by 17 publications

References 10 publications

Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Continuous-Time Switched H<inf>∞</inf> Proportional-Integral observer: Application for sideslip and road bank angles estimation

Steering vehicle control and road bank angle estimation: application for diagnosis of vehicle limits in bend

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Vehicle Roll and Road Bank Angles Estimation

Cited by 17 publications

References 10 publications

Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Continuous-Time Switched H<inf>&#x221E;</inf> Proportional-Integral observer: Application for sideslip and road bank angles estimation

Steering vehicle control and road bank angle estimation: application for diagnosis of vehicle limits in bend

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Continuous-Time Switched H<inf>∞</inf> Proportional-Integral observer: Application for sideslip and road bank angles estimation