A robust road bank angle estimation based on a proportional-integral H-infinity filter

Abstract

This paper presents a new robust road bank angle estimation method that does not require a differential global positioning system or any additional expensive sensors. A modified bicycle model, which is less sensitive to model uncertainties than is the conventional bicycle model, is proposed. The road bank angle estimation algorithm designed using this model can improve robustness against modelling errors and uncertainties. A proportional-integral H-infinity filter based on the game theory approach, which is designed for the worst cases with respect to the sensor noises and disturbances, is used as the estimator in order to improve further the stability and robustness of the bank estimation. The effectiveness and performance of the proposed estimation algorithm are verified by simulations and tests, and the results are compared with those of previous road bank angle estimation methods.