Road profile estimation in heavy vehicle dynamics simulation

In this paper, a new method is developed in order to estimate the road profile inputs of heavy vehicle. These inputs are very important to evaluate on-board the vertical forces acting on the wheels. The proposed method is based on the use of second and third order sliding mode observers to estimate all the vehicle states (positions, speeds and accelerations) in finite time. Simulations results are given to compare the two observers and to show the robustness of the proposed method