Vehicle lateral dynamics estimation using unknown input proportional-integral observers

This paper proposes a robust state and fault estimation of vehicle lateral dynamics by means of proportional integral observers. The observer is able to estimate the state and any constant or varying fault signals even in presence of road bank, sensor noise or offset. A framework for common road adhesion factor estimation and road bank angle estimation is also proposed. Field test results obtained with a prototype vehicle show the effectiveness of the approach for performing in real conditions