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dc.contributor.authorHashemi, Ehsan
dc.contributor.authorZarringhalam, Reza
dc.contributor.authorKhajepour, Amir
dc.contributor.authorMelek, William
dc.contributor.authorKasaiezadeh Mahabadi, Seyed Alireza
dc.contributor.authorChen, Shih-Ken 18:44:55 (GMT) 18:44:55 (GMT)
dc.descriptionThis is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 2017-01-24, available online:
dc.description.abstractThis paper proposes an approach for the estimation of the road angles independent from the road friction conditions. The method employs unknown input observers on the roll and pitch dynamics of the vehicle. The correlation between the road angle rates and the pitch/roll rates of the vehicle is also investigated to increase the accuracy. Dynamic fault thresholds are implemented in the algorithm to ensure reliable estimation of the vehicle body and road angles. Performance of the proposed approach in reliable estimation of the road angles is experimentally demonstrated through vehicle road tests. Road test experiments include various driving scenarios on different road conditions to thoroughly validate the proposed approach.en
dc.publisherTaylor & Francisen
dc.subjectRoad grade estimationen
dc.subjectBank angle estimationen
dc.subjectDiscrete-time unknown input observersen
dc.subjectVehicle roll and pitch estimationen
dc.subjectRoad-body kinematicsen
dc.titleReal-time estimation of the road bank and grade angles with unknown input observersen
dcterms.bibliographicCitationHashemi, E., Zarringhalam, R., Khajepour, A., Melek, W., Kasaiezadeh, A., & Chen, S.-K. (2017). Real-time estimation of the road bank and grade angles with unknown input observers. Vehicle System Dynamics, 1–20.
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Mechanical and Mechatronics Engineeringen

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