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International Journal of Automotive Technology 2007;8(1): 111-117. |
| ESTIMATION OF VEHICLE STATE AND ROAD BANK ANGLE FOR DRIVER ASSISTANCE SYSTEMS |
| T. CHUNG1, S. YI2, K. YI3 |
1Hyundai Mobis
2Hanyang University
3Seoul National University |
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| ABSTRACT |
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This paper presents vehicle state and road bank angle estimators for applications to driver assistance systems. Combined road bank angle estimator and vehicle lateral velocity is used to obtain good estimate of the vehicle side slip angle. The estimator is evaluated in test tracks using a test vehicle. For an application of driver assistance systems which consist of adaptive cruise controller and vehicle stability controller, driving simulator based evaluation is conducted under an obstacle-avoidance driving situations on a bank road. With bank angle estimator, the vehicle stability control logic and its desired values are modified to compensate the bank angle effects. The simulation result shows that the combined vehicle state and bank angle estimators ensure the performance of proposed controller on severe driving condition. |
| Key Words:
State estimator, Bank angle, Adaptive cruise control, Vehicle stability control |
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