Title: Estimating road profiles using functional observer: a half-vehicle model approach

Authors: Mohamed Saber; Mohamed Ouahi; Ghali Naami; Nabil El Akchioui

Addresses: Laboratory of Applied Sciences and Emerging Technologies, National School of Applied Sciences, University of Sidi Mohamed Ben Abdellah, Fez, Morocco ' Laboratory of Applied Sciences and Emerging Technologies, National School of Applied Sciences, University of Sidi Mohamed Ben Abdellah, Fez, Morocco ' Laboratory of Applied Sciences and Emerging Technologies, National School of Applied Sciences, University of Sidi Mohamed Ben Abdellah, Fez, Morocco ' Faculty of Science and Technology Al Hoceima, Abdelmalek Essaadi University, Tangier-Tetouan-Al Hoceima, Morocco

Abstract: To guarantee both driver and vehicle safety when driving and to avoid different kinds of accidents, particularly rollover accidents, which may culminate in catastrophic consequences, it becomes essential that drivers have as precise comprehension of the variables that influence vehicle as possible. The non-measured variables in the system state are estimated using a half-vehicle model that includes an unknown input functional observer, allowing one to precisely estimate the unknown inputs such the road profile characteristic. With the assistance of Lyapunov-Krasovskii stability theory, convergence conditions and a solution of Linear Matrix Inequalities (LMIs), the suggested functional observer design constraints are developed in order to accomplish the goal of minimising the estimation error convergent to zero, which ultimately results in a more accurate determination of the observer parameters. Furthermore, a simulation that accurately evaluates the estimation of a vehicle's variables and the prediction of changing road conditions has been implemented. By developing advanced vehicle control and monitoring systems as a whole this research makes a substantial contribution to the field of road safety.

Keywords: vehicle dynamics; functional observer; state estimation; road profile estimation; half-vehicle model.

DOI: 10.1504/IJVICS.2026.152934

International Journal of Vehicle Information and Communication Systems, 2026 Vol.11 No.2, pp.116 - 145

Received: 22 Aug 2024
Accepted: 08 Jan 2025
Published online: 15 Apr 2026 *

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