324 Roll Angle Correction for Lateral Acceleration Feedback of Active Steering Control

The behavior of an active steering vehicle steered using a D^* controller may be affected by the pitching axis component of gravitational acceleration. A control scheme that uses lateral acceleration feedback obtained from a lateral acceleration sensor may result in snaking even on flat horizontal road surfaces. This study proposes a new correction method that cancels out the gravitational acceleration component from the output of the lateral acceleration sensor using the estimated roll angle of the vehicle. This method is verified through numerical simulation using CarSim, a popular vehicle simulation software, and the obtained results confirm its validity.