Sliding mode observer for vehicle velocity estimation with road grade and bank angles adaptation

Vehicle velocity estimation is essential for the enhancement of safety, especially for yaw stabilization systems. This paper proposes a sliding mode observer (SMO) for longitudinal and lateral velocities estimation on non-flat road based on Dugoff's tire model and nonlinear vehicle dynamics. The road grade and bank angles are considered as unknown inputs, which are reconstructed from their corresponding sliding modes by using the SMO. The stability of the SMO and robustness with respect to additive disturbances are analyzed with the help of input-to-state stability (ISS) theory. The SMO is evaluated in comparison with a nonlinear observer without road angle compensation, and its performance and robustness is validated using vehicle simulator software veDYNA under a variety of maneuvers and road conditions.

[1]  J. Karl Hedrick,et al.  Vehicle Speed Estimation Using Accelerometer and Wheel Speed Measurements , 2002 .

[2]  Martin Levesley,et al.  Design of a Robust Tyre Force Estimator Using an Extended Kalman Filter , 2005 .

[3]  Hongtei Eric Tseng,et al.  Dynamic Estimation of Road Bank Angle , 2001 .

[4]  Laura R. Ray,et al.  Nonlinear Tire Force Estimation and Road Friction Identification: Simulation and Experiments, , 1997, Autom..

[5]  Charara Ali,et al.  Evaluation of sliding mode observer for vehicle sideslip angle , 2005 .

[6]  Ali Charara,et al.  Evaluation of a sliding mode observer for vehicle sideslip angle , 2007 .

[7]  Uwe Kiencke,et al.  Determination of the vehicle body side slip angle with non-linear observer strategies , 2005 .

[8]  J. C. Gerdes,et al.  Estimation of vehicle roll and road bank angle , 2004, Proceedings of the 2004 American Control Conference.

[9]  Veluvolu Kalyana Chakravarthy,et al.  Sliding mode observers and unknown input estimations for nonlinear systems , 2007 .

[10]  L Segel,et al.  An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance , 1970 .

[11]  M. Ouladsine,et al.  Sliding Mode Observers for the Estimation of Vehicle Parameters, Forces and States of the Center of Gravity , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[12]  Chen Hong,et al.  Vehicle state and friction force estimation using nonlinear observer strategies , 2008, 2008 27th Chinese Control Conference.

[13]  Jon Rigelsford,et al.  Automotive Control Systems: For Engine, Driveline and Vehicle , 2004 .

[14]  Tor Arne Johansen,et al.  Vehicle velocity estimation using nonlinear observers , 2006, Autom..

[15]  A. T. van Zanten,et al.  Bosch ESP Systems: 5 Years of Experience , 2000 .