Hashemi, EhsanZarringhalam, RezaKhajepour, AmirMelek, WilliamKasaiezadeh Mahabadi, Seyed AlirezaChen, Shih-Ken2017-03-302017-03-302017-01-24https://doi.org/10.1080/00423114.2016.1275706http://hdl.handle.net/10012/11614This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 2017-01-24, available online: http://dx.doi.org/10.1080/00423114.2016.1275706This 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.enRoad grade estimationBank angle estimationDiscrete-time unknown input observersVehicle roll and pitch estimationRoad-body kinematicsArticle