Design of Body Slip Angle Observer for Vehicle Stability Control

Abstract

Abstract. Body slip angle is important for Vehicle Stability Control. Due to using sensors to measure body slip angle is very expensive, it is necessary to estimate it from other variables measured easily. A novel method based on non-linear robust observer is proposed for estimation body slip angle. Firstly, full-dimension observer designed based on yaw rate and lateral acceleration to estimate lateral velocity. And then, the body slip angle is estimated by using lateral velocity and longitudinal velocity. The proposed method is verified by offline simulation. The results demonstrate that this method has a better adaptability to different driving conditions and accuracy.