Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature

This paper presents a cascaded observer scheme for state estimation of the lateral vehicle dynamics. A velocity dependent linear time varying model where the road curvature acts as an unknown input is considered. The proposed observer structure is based on an $\mathcal{H}_{\alpha}$, filter in combination with a higher order sliding mode compensator and yields finite time exact state reconstruction. The observer design is carried out step by step and simulation results show the applicability of the proposed approach.