Estimation of vehicle roll and road bank angle

This work presents a new method for identifying road bank and vehicle roll separately using a disturbance observer and a vehicle dynamic model. The authors have previously shown that vehicle states and parameters of a vehicle model can be precisely estimated using measurements from Global Positioning System (GPS) and Inertial Navigation System (INS) sensors. Based on these results, a dynamic model, which includes vehicle roll as a state and road bank as a disturbance, is first introduced. A disturbance observer is then implemented from the vehicle model using estimated vehicle states. Experimental results verify that the estimation scheme is giving appropriate estimates of the vehicle roll and road bank angles separately.