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Road Bank Estimation on Uneven Terrain for Unmanned Ground Vehicles

[+] Author Affiliations
Lowell S. Brown, Jeremy J. Dawkins, Ryan S. Hill, David M. Bevly

Auburn University, Auburn, AL

Paper No. DSCC2010-4196, pp. 849-855; 7 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


Knowledge of non-negligible bank angle is important for preventing rollover on uneven terrain. This article shows the effect of uneven terrain on rollover and explores a method to calculate the bank of the uneven terrain. An Extended Kalman Filter (EKF) is implemented to estimate the total roll of the vehicle. Information on the relative roll of the vehicle is acquired from suspension geometry and suspension deflections. The combination of EKF estimated roll and measured suspension deflections yields an estimate of the road bank angle.

Copyright © 2010 by ASME
Topics: Vehicles , Roads



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