Driver support system based on a non-linear slip observer for off road vehicles

Z. B. Song, Yahya H. Zweiri, Lakmal D. Seneviratne, Kaspar Althoefer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations


Off road ground vehicles have many potential applications, including space, defence, agriculture, mining and construction. Increased autonomy of ground vehicles will not only improve the safety of the operators but also assist in trajectory tracking. Accurate estimation of slip is essential in developing autonomous navigation strategies for mobile off road vehicles operating in unstructured terrain. in this paper, a driver assistance and vehicle control capability to increase safety and efficiency by means of non-linear slip estimation is presented. A sliding mode observer and an Extended Kalman Filter are constructed to estimate slip parameters based on the kinematics model of a tracked vehicle and trajectory measurement. Autonomous driver support system for the rural road environment (off road) using estimated slip parameters is investigated.

Original languageBritish English
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
Number of pages6
StatePublished - 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Driver assistance
  • Extended kalman filter
  • Sliding mode observer
  • Slip parameter estimation
  • Tracked vehicles


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