Robust Estimation of Vehicle Sideslip Angle - An Approach w/o Vehicle and Tire Models

Vehicle sideslip estimation

“…Changes in the loading of the vehicle and the tire characteristics, for example, introduce unknown variations in the model. A different direction is taken in [16] , where a six-degree-of-freedom inertial sensor cluster is used in an EKF that relies mainly on open-loop integration of the kinematic equations, without a vehicle or friction model. The main measurement equation comes from the longitudinal velocity, which is calculated separately based primarily on the wheel speeds.…”

“…Some model-based designs, such as [3] , [5] , [11] - [13] and [15] , take unknown road surface conditions into account, but it is more commonly assumed that the road surface conditions are known or that the vehicle is driven in a way that minimizes the impact of the road surface conditions. Similarly, although a horizontal road surface is typically assumed, [3] , [5] , [11] , and [16] consider inclination and bank angles. Estimation of the road bank angle is considered in [17] , which is based on transfer functions from the steering angle and road bank angle to the yaw rate and lateral acceleration, and in [18] , which uses an EKF to estimate the sideslip angle, which is in turn used in a linear unknown-input observer to estimate the road bank angle.…”

Estimation of road inclination and bank angle in automotive vehicles

“…To define these angles precisely, we say that the orientation of the road surface is obtained from the horizontal position by a rotation around the vehicle's y-axis equal to the inclination angle ‚, and a subsequent rotation around the x-axis equal to the bank angleˆ. The inclination and bank angles cause gravity components to appear in the equations of motion, and we rewrite (1) as [3] …”

“…Nevertheless, sideslip estimation designs often assume that the road surface is flat and horizontal. Designs that take the slanting of the road surface into account include [1]- [3].…”

Robust estimation of vehicle sideslip angle from variables measured by ESC system

“…[3,4,5,6] and the references therein. All these investigations are based on a Two-Step design procedure: a suitable model of vehicle dynamics is first identified making use of experimental data measured on a testing vehicle; then one of existing observer/filtering method (Kalman Filter, Sliding Mode Observer, Moving Horizon Estimator, …) is used for designing the estimator, here called TSVS/SA (Two-Step Virtual Sensor of Sideslip Angle), see Figure 1A.…”