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Using Lateral Acceleration and Yaw Rate, Sliding Observer Design for Roll Angle  

Lee, Jong-Kuk (ISR R&D Center 3 Team, LIG Nex1)
Kwon, Young-Shin (ISR R&D Center 3 Team, LIG Nex1)
Lee, Hyeong-Cheol (Department of Electrical and Instrumentation Biomedical Engineering, Hanyang University)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.19, no.4, 2011 , pp. 38-46 More about this Journal
Abstract
This paper presents roll angle estimator which used Kalman filter. Recently, the uses of the ELSD (Electronic Limited Slip Differential) and TVD(Torque Vectoring Differential) for vehicle yaw control are studied in many researches. However the roll angle can be negative effect of ELSD and TVD control. Therefore the information of roll angle can be used for vehicle yaw control. Moreover it can be used for rollover prevent control. Recently, most of the vehicles use lateral acceleration and yaw rate sensor. In this paper, design of Kalman filter which used lateral acceleration and yaw rate information is developed. In this paper, in order to verify the estimator ability, the CarSim and Matlab/Simulink are used.
Keywords
Continuous Kalman filter; Roll angle estimator; Model-based estimator; Compensation of model-uncertainty; Vehicle roll model;
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