TY  - JOUR
PY  - 2017//
TI  - Real-time estimation of the road bank and grade angles with unknown input observers
JO  - Vehicle system dynamics
A1  - Hashemi, Ehsan
A1  - Zarringhalam, Reza
A1  - Khajepour, Amir
A1  - Melek, William
A1  - Kasaiezadeh, Alireza
A1  - Chen, Shih-Ken
SP  - 648
EP  - 667
VL  - 55
IS  - 5
N2  - This paper proposes an approach for the estimation of the road angles independent from the road friction conditions. The method employs unknown input observers on the roll and pitch dynamics of the vehicle. The correlation between the road angle rates and the pitch/roll rates of the vehicle is also investigated to increase the accuracy. Dynamic fault thresholds are implemented in the algorithm to ensure reliable estimation of the vehicle body and road angles. Performance of the proposed approach in reliable estimation of the road angles is experimentally demonstrated through vehicle road tests. Road test experiments include various driving scenarios on different road conditions to thoroughly validate the proposed approach.<p />  <p>Language: en</p>
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423114.2016.1275706
ID  - ref1
ER  -