A robust observer designed for vehicle lateral motion estimation

Lateral control of vehicles on automated highways often requires accurate estimation of sideslip angle, yaw rate and lateral velocity, which are difficult to measure directly. Thus, several observers (virtual sensors) were developed in the last decade. In order to solve the unhandled estimation inaccuracy problem caused by system parameter variation and/or model uncertainty, a robust observer has been proposed in this paper. It maintains the good disturbance rejection property that derived form previous research, and simultaneously provides acceptable tolerance to model variance and uncertainty. Specially, effects of displacements of sensory, dynamics variance caused by mass/velocity/friction-coefficients change or nonlinear characteristics are studied. Simulations demonstrate the usefulness of the proposed observer.

[1]  P. Khargonekar,et al.  Filtering and smoothing in an H/sup infinity / setting , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[2]  David M. Bevly,et al.  Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[3]  Eam Khwang Teoh,et al.  Road edge and lane boundary detection using laser and vision , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[4]  J. Ackerman,et al.  Robust Yaw Damping of Cars with Front and Rear Wheel Steering , 1993 .

[5]  R. E. Fenton,et al.  On the optimal design of an automotive lateral controller , 1988 .

[6]  Jürgen Guldner,et al.  Robust automatic steering control for look-down reference systems with front and rear sensors , 1999, IEEE Trans. Control. Syst. Technol..

[7]  Edgar von Hinüber.  Inertial measuring systems with fibre-optic gyroscopes , 2002 .

[8]  Vadim I. Utkin,et al.  A robust nonlinear control approach to automatic path tracking of a car , 1994 .

[9]  Da-Wei Gu,et al.  Authors' reply [Comment on "A robust state observer scheme"] , 2003, IEEE Trans. Autom. Control..

[10]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[11]  P. Schweizer,et al.  Calculating longitudinal wheel slip and tire parameters using GPS velocity , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[12]  Uwe Kiencke,et al.  Observation of Lateral Vehicle Dynamics , 1996 .

[13]  S. Ibaraki,et al.  Taming internal dynamics by mismatched and H/sub /spl infin//-optimized state observer , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[14]  Jürgen Ackermann,et al.  Robust car steering by yaw rate control , 1990, 29th IEEE Conference on Decision and Control.

[15]  R. Larsen.  AVCS: an overview of current applications and technology , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[16]  S. J. Xu,et al.  Robust sliding mode observer for automatic steering of vehicles , 2000, ITSC2000. 2000 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.00TH8493).

[17]  J. Ackermann,et al.  Automatic Track Control of City Bus , 1990 .

[18]  Mohamed Darouach,et al.  Comments on "A robust state observer scheme" , 2003, IEEE Trans. Autom. Control..

[19]  Uwe Kiencke,et al.  Automotive Control Systems: For Engine, Driveline, and Vehicle , 2000 .

[20]  Masayoshi Tomizuka,et al.  Gain-scheduled H/sub /spl infin// loop-shaping controller for automated guidance of tractor-semitrailer combination vehicles , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[21]  Kan Chen,et al.  An overview of intelligent vehicle-highway systems (IVHS) activities in North America , 1990, Proceedings of the 5th Jerusalem Conference on Information Technology, 1990. 'Next Decade in Information Technology'.

[22]  Ali Charara,et al.  Virtual sensor: application to vehicle sideslip angle and transversal forces , 2004, IEEE Transactions on Industrial Electronics.

[23]  P. Khargonekar,et al.  Filtering and smoothing in an H/sup infinity / setting , 1991 .

[24]  R. Bishop,et al.  A survey of intelligent vehicle applications worldwide , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[25]  Paul J.Th. Venhovens,et al.  Vehicle Dynamics Estimation Using Kalman Filters , 1999 .

[26]  Soichi Ibaraki,et al.  H/sub /spl infin// optimization of Luenberger state observers and its application to fault detection filter design , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[27]  Y. Hori,et al.  Robust design of gain matrix of body slip angle observer for Electric Vehicles and its experimental demonstration , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[28]  P. Wellstead,et al.  Estimation of vehicle lateral velocity , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[29]  Da-Wei Gu,et al.  A robust state observer scheme , 2001, IEEE Trans. Autom. Control..

[30]  Kyongsu Yi,et al.  Monitoring system design for estimating the lateral tire force , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[31]  Masayoshi Tomizuka,et al.  Slip angle estimation for vehicles on automated highways , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).