Design of unknown input fuzzy observer for vehicle dynamics estimation with road geometry consideration

DOI

10.2991/eusflat.2011.116How to use a DOI?

Keywords

Unknown input fuzzy observer, vehicle dynamics, road geometry estimation, LMI.

Abstract

A methodology for estimating vehicle dynamics whith road geometry consideration is presented in this paper. Vehicle sideslip and roll parameters are estimated in the presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. This information about the road geometry and vehicle parameters is needed in the driver assistance systems to be able to calculate the risk index of a rollover or a lane departure crashes. Taking into account the unmeasured variables, an unknown inputs (TS) observer is then designed on the basis of the measure of the roll rate, the steering angle and the lateral offset given by the distance between the road centerline and the vehicle axe at a look-ahead distance. Synthesis conditions of the proposed fuzzy observer are formulated in terms of Linear Matrix Inequalities (LMI) using Lyapunov method. Simulation results show good efficiency of the proposed method to estimate both vehicle dynamics and road geometry.

Copyright

© 2011, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Hamid Dahmani
AU  - Mohammed Chadli
AU  - Abdelhamid Rabhi
AU  - Achmed El Hajjaji
PY  - 2011/08
DA  - 2011/08
TI  - Design of unknown input fuzzy observer for vehicle dynamics estimation with road geometry consideration
BT  - Proceedings of the 7th conference of the European Society for Fuzzy Logic and Technology (EUSFLAT-11)
PB  - Atlantis Press
SP  - 811
EP  - 816
SN  - 1951-6851
UR  - https://doi.org/10.2991/eusflat.2011.116
DO  - 10.2991/eusflat.2011.116
ID  - Dahmani2011/08
ER  -