Simultaneous vehicle state and road attributes estimation using unknown input proportional-integral observer

In this paper, a global vehicle state and road attributes estimation method using the unknown input proportional-integral (PI) observer is proposed. The goal is to estimate simultaneously, the vehicle dynamics, the road bank angle and road friction coefficient in the presence of disturbance input. The observer gain is obtained as a solution of a linear matrix inequalities (LMI) problem. Finally, an estimation procedure of the road slope angle in the presence of the pitching moment disturbance due to the load transfer during the acceleration or braking phase is proposed. Experimental results provided in the paper show the effectiveness of the approach.