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dc.contributor.authorHsu, Ling-Yuanen_US
dc.contributor.authorChen, Tsung-Linen_US
dc.date.accessioned2014-12-08T15:07:00Z-
dc.date.available2014-12-08T15:07:00Z-
dc.date.issued2010-05-01en_US
dc.identifier.issn0022-0434en_US
dc.identifier.urihttp://dx.doi.org/10.1115/1.4001330en_US
dc.identifier.urihttp://hdl.handle.net/11536/5478-
dc.description.abstractThis paper presents a method of estimating road angles using state observers and three types of sensors (lateral acceleration sensors, longitudinal velocity sensors, and suspension displacement sensors). The proposed method differs from those in most existing literature in three aspects. First, a "full-state" vehicle model is used to describe nonlinear vehicle dynamics on a sloped road. Second, "switching observer" techniques are used to suggest suitable sensors and to construct state observers. Lastly, the road angles are described by three Euler angles, and two of them are estimated simultaneously. The analysis indicates that (1) road angles affect vehicle dynamics through components of the gravitational force acting on the vehicle body. These gravitational forces can be correctly estimated with an estimation accuracy less than 7.5%, even when road angles vary with time. (2) Those road angles can be correctly estimated only when the vehicle yaw angle is known.en_US
dc.language.isoen_USen_US
dc.subjectacceleration measurementen_US
dc.subjectdisplacement measurementen_US
dc.subjectobserversen_US
dc.subjectsuspensions (mechanical components)en_US
dc.subjectvehicle dynamicsen_US
dc.subjectvelocity measurementen_US
dc.titleEstimating Road Angles With the Knowledge of the Vehicle Yaw Angleen_US
dc.typeArticleen_US
dc.identifier.doi10.1115/1.4001330en_US
dc.identifier.journalJOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASMEen_US
dc.citation.volume132en_US
dc.citation.issue3en_US
dc.citation.epageen_US
dc.contributor.department機械工程學系zh_TW
dc.contributor.departmentDepartment of Mechanical Engineeringen_US
dc.identifier.wosnumberWOS:000277174800004-
dc.citation.woscount1-
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