Observer-Based Active Roll Preview Control With V2V Communication

This paper presents observer-based active roll preview control with V2V communication. The preview controllers are designed with a future disturbance, transmitted lateral acceleration from preceding vehicles with V2V communication. For active roll control, two preview controllers—LQ and $\text{H}_{\infty }$ ones—are designed with the linear roll model. Generally, it is hard to measure the roll angle in real vehicles. To estimate the roll angle, Kalman filter is adopted with the roll rate measurement. To filter the noises in the transmitted lateral acceleration, a moving average filter is adopted. To validate the proposed method, simulation is done on a vehicle simulation package. From the simulation, it is shown that the proposed method is effective in estimating the roll angle and in filtering the noises in the transmitted lateral acceleration.