Estimating Road Angles With the Knowledge of the Vehicle Yaw Angle

Author:

Hsu Ling-Yuan1,Chen Tsung-Lin1

Affiliation:

1. Department of Mechanical Engineering, National Chiao Tung University, Hsinchu, Taiwan 30010, R.O.C.

Abstract

This paper presents a method of estimating road angles using state observers and three types of sensors (lateral acceleration sensors, longitudinal velocity sensors, and suspension displacement sensors). The proposed method differs from those in most existing literature in three aspects. First, a “full-state” vehicle model is used to describe nonlinear vehicle dynamics on a sloped road. Second, “switching observer” techniques are used to suggest suitable sensors and to construct state observers. Lastly, the road angles are described by three Euler angles, and two of them are estimated simultaneously. The analysis indicates that (1) road angles affect vehicle dynamics through components of the gravitational force acting on the vehicle body. These gravitational forces can be correctly estimated with an estimation accuracy less than 7.5%, even when road angles vary with time. (2) Those road angles can be correctly estimated only when the vehicle yaw angle is known.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Reference24 articles.

1. Hsu, L. -Y. , 2006, “Vehicle Rollover Prediction System Using States Observers,” MA thesis, Department Mechanical Engineering, National Chiao Tung University, Hsinchu, Taiwan.

2. Vehicle Full-State Estimation and Prediction System Using State Observers;Hsu;IEEE Trans. Veh. Technol.

3. Real-Time Identification of Road-Bank Angle Using Differential GPS;Hahn;IEEE Trans. Control Syst. Technol.

4. Dynamic Estimation of Road Bank Angle;Tseng;Veh. Syst. Dyn.

5. Estimation of Land Vehicle Roll and Pitch Angles;Tseng;Veh. Syst. Dyn.

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