Road bank and vehicle roll angles estimation based on Proportional-Integral observer

Abstract

RésuméRoad bank angle plays a crucial role on the vehicle lateral dynamics; unfortunately, this parameter is not measured by low cost sensor. For this reason, we present in this paper a virtual sensor to estimate the road bank and vehicle roll angles. This virtual sensor is based on a proportional-integral observer introduced by Koenig (2006). This observer uses a simple lateral vehicle model which offers a better approximation of the vehicle's dynamic behavior under moderate driving situations. Moreover, the estimation process uses some measurements like sideslip angle, roll rate, yaw rate and steering angle. Notice that in this study the road bank angle is considered as an unknown input. An important part of this work is devoted to the experimental validation of the PI observer. This validation gives an appropriate estimation of the vehicle roll and road bank angles, these results show the ability of this observer to estimate simultaneously the road attributes and vehicle dynamics parameters.