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In recent years, the need for micro-mobility, especially three-wheel vehicles, is increasing to address pollution and traffic congestion problems. With regard to the development of tilting vehicles, the precise tilt angle is important information in the tilting mechanism. Since the road environment affects the vehicle tilt angle, the road bank and hill angle have to be estimated to optimize the tilt control system. Furthermore, a new tilt mechanism is required due to the energy consumption of the previous active tilting mechanism. This paper introduces the road state observer. In this paper, the observer that combines a kinematic model with a dynamic model of a three wheel vehicle is proposed. The dynamic model has four states, including lateral velocity, yaw rate, tilt angle, and tilt angle ratio. Similarly, kinematic model has two states, including roll and pitch angles. It is assumed that the data set received from the six-dimensional inertial measurement unit including the vehicle acceleration and angular velocity of all axes is available. To verify the proposed algorithm, simulation verification using Carsim ADAMS and Matlab&Simulink is performed and a discussion of the result is provided. In addition, this paper proposes a semi-active tilt system.

Road Bank Angle Estimation for Three Wheel Tilting Vehicle Using Multi Model Estimator