State estimation in roll dynamics for commercial vehicles

Zeyu Ma, Xuewu Ji, Yunqing Zhang, James Yang

Research output: Contribution to journalArticlepeer-review

24 Scopus citations


Accurate lateral load transfer estimation plays an important role in improving the performance of the active rollover prevention system equipped in commercial vehicles. This estimation depends on the accurate prediction of roll angles for both the sprung and the unsprung subsystems. This paper proposes a novel computational method for roll-angle estimation in commercial vehicles employing sensors which are already used in a vehicle dynamic control system without additional expensive measurement units. The estimation strategy integrates two blocks. The first block contains a sliding-mode observer which is responsible for calculating the lateral tyre forces, while in the second block, the Kalman filter estimates the roll angles of the sprung mass and those of axles in the truck. The validation is conducted through MATLAB/TruckSim co-simulation. Based on the comparison between the estimated results and the simulation results from TruckSim, it can be concluded that the proposed estimation method has a promising tracking performance with low computational cost and high convergence speed. This approach enables a low-cost solution for the rollover prevention in commercial vehicles.

Original languageEnglish
Pages (from-to)313-337
Number of pages25
JournalVehicle System Dynamics
Issue number3
StatePublished - Mar 4 2017


  • Sliding-mode observer
  • and commercial vehicles
  • state estimation
  • vehicle roll dynamics


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