Abstract
In some types of active steering such as those based on D^* control, lateral acceleration feedback is required, while gravitational acceleration may affect their sensor outputs. The estimation of vehicle roll angle is essential to improve the maneuverability of the vehicle with straight-line vehicle stability. In this study, a scheme for estimating angles of roll and pitch, which involves the use of yaw rate gyro and the lateral acceleration sensors, is proposed. An observer is designed to estimate the body slip angle, and the relative acceleration is estimated by the rate of change of the relative speed measured by the rotation pulse of the non-drive wheels. The proposed method is implemented in the MATLAB/Simulink environment and tested using CarSim, a popular vehicle simulation software.
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