Road Bank Estimation on Uneven Terrain for Unmanned Ground Vehicles

Road Bank Estimation on Uneven Terrain for Unmanned Ground Vehicles. Brown, L. S., Dawkins, J. J., Hill, R. S., & Bevly, D. M. In ASME 2010 Dynamic Systems and Control Conference, Volume 2, pages 849–855, Cambridge, Massachusetts, USA, January, 2010. ASMEDC.

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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.

@inproceedings{brown_road_2010,
	address = {Cambridge, Massachusetts, USA},
	title = {Road {Bank} {Estimation} on {Uneven} {Terrain} for {Unmanned} {Ground} {Vehicles}},
	isbn = {978-0-7918-4418-2},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2010/44182/849/348883},
	doi = {10.1115/DSCC2010-4196},
	abstract = {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.},
	urldate = {2024-06-20},
	booktitle = {{ASME} 2010 {Dynamic} {Systems} and {Control} {Conference}, {Volume} 2},
	publisher = {ASMEDC},
	author = {Brown, Lowell S. and Dawkins, Jeremy J. and Hill, Ryan S. and Bevly, David M.},
	month = jan,
	year = {2010},
	pages = {849--855},
}

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