Vehicle roll angle and bank angle estimation using FIR filtering

摘要

This paper proposes a novel estimation method using finite impulse response (FIR) filter for the vehicle roll and bank angles. A vehicle model was constructed using the bicycle model and roll motion model and has parameter uncertainties. The proposed method ensures robust to vehicle parameter uncertainties and has no risk of divergence. Furthermore, the proposed method does not need to use expensive sensors such as differential global positioning sensor (DGPS) or tilt angle sensors. Simulation results are provided to demonstrate the effectiveness and performance of the proposed method.