Vehicle Pitch Angle Estimation by a Triaxial Accelerometer with a Wheel Speed Sensor and an Altimeter

In this paper, we propose a method for estimating vehicle pitch angle from a triaxial accelerometer, a wheel speed sensor and an altimeter. In our method, a static pitch angle, that is the stationary point of suspension under the condition of neither acceleration nor gradient, is estimated by an adaptive filter, then the pitch angle is feedforwardly estimated using the model of suspension. We verify our algorithm by a simulation, and we also illustrate the performance of our algorithm by an experimental result of an actual driving test.