Estimation of Road Grade and Vehicle Velocity for Autonomous Driving Vehicle

The accurate information of vehicle states that could not be obtained directly by onboard sensors is virtual important for vehicle active safety systems. This paper presents the nonlinear full-order observer which is used to estimate the longitudinal velocity, lateral velocity and road grade estimation with autonomous driving. Firstly, this paper established a simplified vehicle dynamics model for the Hongqi HQ430 which could characterize the performance of autonomous driving vehicle on highway, and the estimator was designed. Secondly, in order to verify the effectiveness of the proposed nonlinear full-order observer, we do some simulation experiments, simulation experiments were carried out under different running conditions, the simulation results showed that the estimation method have certain validity and accuracy.