Road Banking and Slope Angle Estimation via Vehicle Orientation Tracking: Sensor Fusion and Vehicle State Refinement

The aim of this project is to develop a robust procedure to estimate the road banking and slope angle from the data that comes from sensors that will be implemented in a vehicle, this information are useful for different purposes: • Optimize vehicle performance, safety, and efficiency • Refine the signals of the sensors mounted in the vehicle • Provide a correct estimation of vehicle states including tire vertical forces at ground To obtain this quantity in this thesis project has been developed a procedure that consist into two big topics: • The estimation of the Euler angle to determinate the spatial orientation of the vehicle, by using the sensor that are generally implemented into the system. This procedure will involve also the implementation of a Kalman filter. • The calculation of vehicle state focusing on the car roll and pitch. This task can be done in such of different ways, for example with laser sensor mounted on different sides; but the initial idea is to reduce as pos sible the instrumentation needed, for this reason in this project has been implemented of a 7 DOF model that simulate a real time algorithm that could be implemented in software for control the car which allows also to have a estimation of tire forces at ground useful to characterize the longi tudinal and lateral. Again this point involved the implementation of a Kalman Filter that use the sensors reading mounted on the chassis