Vehicle State Estimation Using Dynamic 7 Degree-of-Freedom Observer

This paper presents a dynamic Luenberger's observer design with wheel dynamics as an essential component. 7DOF model of the vertical vehicle dynamics is modified for the case of independent-solid axle suspension and applied to predicting the vehicle body and wheel states. The observer greatly reduces the effect of uncertainty even with unknown road inputs. The design is verified through Carsim simulation and vehicle testing under variety of maneuvers including Fishhook and frequency response on a flat surface, straight line driving on a rough road, and on a cross-slope roads.