Abstract
Keywords:
Vehicle lateral velocity, Bank angle, State estimator, Adaptive cruise control, Vehicle stability control
Abstract
This paper presents vehicle state and road bank angle estimators for applications to driver assistance systems. Combined road bank angle estimator and vehicle lateral velocity is used to obtain good estimate of the vehicle side slip angle. The estimator is evaluated in test tracks using a test vehicle. For an application of driver assistance systems which consist of adaptive cruise controller and vehicle stability controller, driving simulator based evaluation is performed under a critical driving situations on a bank road. With bank angle estimator, the vehicle stability control logic and its desired values are modified to compensate the bank angle effects. The simulation result shows that the combined vehicle state and bank angle estimators ensure the performance of proposed controller on severe driving condition.