Real Time Estimation of Road Bank Disturbance and Vehicle Side Slip Angle

Road bank angle is a significant lateral disturbance that causes degradation in the performance of automatic steering control systems and vehicle stability control systems. Many vehicles active safety control systems require real time knowledge of the vehicle side slip angle, such as rollover prevention and yaw stability control. Both road bank angle and side slip angle are too expensive to measure in current vehicle systems. In this paper, a state and disturbance observer is designed to estimate the road bank angle disturbance along with the vehicle lateral state (side slip angle and yaw rate) using Extended Kalman filter. The observer combines the dynamical vehicle single track model in terms of side slip angle and yaw rate with two sensor measurements, lateral acceleration and yaw rate, taking into account the influence of road bank angle on lateral acceleration measurement. The performance and accuracy of the presented method is validated by experimental results.