Estimation of Crosswind Disturbances for a Vehicle by LPV‐MHE and its Application to Disturbance Cancellation

Abstract

Crosswinds and transverse slopes of the road surface affect the motion of a ground vehicle as disturbances. The objective of this paper is to develop a method for estimating crosswind disturbances and lateral force disturbances caused by transverse slopes of the road surface under the variation of the vehicle speed. Firstly, a dynamical model of a vehicle is described as a Linear Parameter‐Varying (LPV) system in which the value of the coefficient matrices vary with the vehicle velocity. Then, an algorithm to estimate the disturbance is derived based on Moving Horizon Estimation (MHE) and applied to the derived LPV system. Furthermore, a simple control law which counteracts the effects of the disturbances on the lateral velocity and the yaw rate in steady‐state based on the estimates of the disturbances is presented. The effectiveness of the proposed method is demonstrated by a numerical example. © 2024 The Author(s). IEEJ Transactions on Electrical and Electronic Engineering published by Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.