An end-stop collision oriented vehicle suspension position estimation

This paper proposes an individual suspension position estimate which exploits only standard vehicle sensors, mainly an IMU (longitudinal and lateral accelerations) and wheel speed. Despite being applicable to any type of vehicle, such estimate is well suited for SUV vehicles where the end-stop collision risk is increased by their off-road capabilities and that are commonly equipped with load-levelling or adaptive suspensions to address this issue. The proposed approach combines a punctual suspension position and an oscillation amplitude estimate: the former captures the stroke movements induced by accelerations and turn negotiations; the latter the wheel oscillations caused by road unevenness. Experimental results show the effectiveness of the proposed approach on realistic and various driving scenarios.