Simultaneous estimation of the road attributes and the vehicle states

This paper aims to contribute to the developpement of the advanced driver-assistance systems (ADAS). The automated system which is provided by ADAS to the vehicle is proven to reduce road fatalities, by minimising the human error. The main objective in this work is to strengthen ADAS by information like estimated road profile. An unknown inputs observer is developed, to estimate in real time the road bank, slope and profile together with the vehicle states, based on measurements of roll and pitch rates, and the lateral, longitudinal and centre of wheels acceleration. Thus, this virtual sensor, based on an unknown input observer presented here, provides the variables needed by advanced driver assistance systems. Simulations conducted in this work show that the designed observer can reproduce correctly the vehicle dynamics and can be easily implemented as an embedded system in the vehicle.