Vehicle State Estimation for Roll Control System

Methods of estimating key vehicle states for roll stability control systems, including roll rate, roll angle, and lateral velocity, are investigated in this paper. Roll angle and roll rate estimators based on the two different vehicle models, 3-DOF (degree-of-freedom) and 1-DOF models, are evaluated and compared in both linear and non-linear regions using CarSim, a non-linear simulation software for vehicle dynamics control and integration. The effects of using roll rate sensor measurement in estimation are discussed. This paper also presents a new scheme of lateral velocity estimation, which compensates for errors in lateral acceleration and longitudinal speed measurements.