휠의 수직가속도를 활용한 차량의 롤 정보 추정 기법

Abstract

Recently, many researches on active roll control to improve ride and handling have been conducted. The active roll stabilizer(ARS) system is commonly used instead of passive stabilizer bars to obtain improved vehicle ride and handling. ARS system requires roll states(roll angle and roll rate) to determine control inputs. In this paper, the roll states estimation method is proposed by using Kalman filter and roll dynamics including vertical dynamics model. The vertical acceleration sensors are used to correct the estimated states. The proposed roll states estimation method will be verified by simulation with MATLAB/Simulink and CarSim software.