期刊
VEHICLE SYSTEM DYNAMICS
卷 55, 期 5, 页码 648-667出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423114.2016.1275706
关键词
Road grade estimation; bank angle estimation; discrete-time unknown input observers; vehicle roll and pitch estimation; road-body kinematics
资金
- Automotive Partnership Canada
- Ontario Research Fund
- General Motors Co. [APCPJ 39599609, ORF-RE-04-039]
- ORF
- [APCPJ 395996-09]
- [ORF-RE-04-039 APCPJ]
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.
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