Road Bank Angle Estimation for Land Vehicle

Abstract

This paper presents a method for estimating road bank angle for land vehicle. When the vehicle is traveling on a lateral slope road, due to the effect of suspension, roll will be occur. While the ordinary method for the roll angle measurement is by gyro which is mounted on a vehicle body, the measured value of the roll angle includes not only the suspension’s deformation but also includes road bank angle. In order to obtain independent parameters, other methods must be used. First , we get the corresponding roll parameters of vehicle suspension through PSO by taking rotation test in the plane. Combined with parameters we get through inertial measurement module, a method is proposed to estimate the road bank angle. Finally, effectiveness of the method is verified through experiments.