Systems and methods for controlling a vehicle along a road with a road bank

A system for controlling a vehicle, comprising:

• a mapping sensor configured to measure course angle along a road;
• a yaw rate sensor configured to measure yaw rate of the vehicle;
• an accelerometer configured to measure lateral acceleration of the vehicle;
• a speedometer configured to measure longitudinal speed of the vehicle;
• a processor;
• and
• a memory comprising computer-executable instructions that, when executed by the processor, cause the processor to:
• calculate a first difference in slip angle, including:
• calculating a difference in course angle based on course angles measured by the mapping sensor;
• calculating a difference in yaw angle based on yaw rate measured by the yaw rate sensor;
• calculating the first difference in slip angle as the difference between:
• the difference in course and
• the difference in yaw angle;
• calculate a second difference in slip angle based on:
• lateral acceleration measured by the accelerometer;
• yaw rate measured by the yaw rate sensor;
• and
• longitudinal speed measured by the speedometer;
• and
• detect a road bank based on the first slip angle difference and the second slip angle difference.

A non-transitory computer-readable medium comprising computer-executable instructions for controlling a vehicle, the computer-executable instructions, when executed by a processor, causing the processor to:

• calculate a difference in slip angle, including:
• calculating a difference in course angle based on course angles measured by a mapping sensor;
• calculating a difference in yaw angle based on a yaw rate measured by a yaw rate sensor;
• calculating the difference in slip angle as a difference between:
• the difference in course angle;
• and
• the difference in yaw angle;
• calculate a road bank angle based on the difference in slip angle.