Estimation of Steering Wheel Angle and Vehicle Lateral State from Measured Lateral Forces

Abstract:

This paper introduces a method to estimate the lateral dynamics parameters,which are valuable to the development of more complex and powerful driver assistance system. In the assumption of measured lateral forces, three state observer methods are designed to simultaneously estimate the steering angleas unknown input and vehicle lateral state variables. The stability conditionsof such observers are derived in terms of Linear Matrix Inequalities (LMI). Simulation results through Matlab/Simulink software based on data of the CALLAS vehicle simulator is used to evaluate the performance of observersbased on Unknown Input Observer (OEI).

• Periodical: International Journal of Engineering Research in Africa (Volume 39)
• Pages: 14-31
• DOI: https://doi.org/10.4028/www.scientific.net/JERA.39.14
• Online since: November 2018
• Authors: Fatima Ezzahra Saber*, Mohamed Ouahi, Abdelmjid Saka
• Keywords: Driver Assistance Systems, State Estimation, Unknown Input Observer, Vehicle Modeling

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