Jaguar Land Rover Limited

Mark Flinders

Juan Herrera

Nick Solomon

A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring &#x3b8;, the angle of the surface in relation to a horizontal plane; measuring the values of h, hand &#x3b8;; using the values of hand hto calculate &#x3b8;, the angle of the vehicle body relative to the surface; and calculating an estimate of &#x3b8;, the angle between the first axis and the horizontal plane, from &#x3b8;and &#x3b8;.

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Leamington Spa, United Kingdom

Mark Flinders