One of the main challenges in enhancing vehicle safety is mitigating the effects of disturbances such as crosswinds. This study focused on compensating for crosswind disturbances using vehicle-to-infrastructure (V2I) communication, which allows vehicles to receive information from the roads. In this paper, we first developed a disturbance compensation method based on a traditional observer and a technique known as prediction governor. The prediction governor shapes the disturbance estimates by leveraging actual past information obtained from V2I communication. Then, we validated the effectiveness of the proposed method using several numerical simulations.

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