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Vehicle sideslip estimation: A kinematic based approach |
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| Affiliation: | 1. Department of Automation, Polytechnic University of Tirana, Sheshi “Nënë Tereza”, Nr.4, Tirana, Albania;2. Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32, 20133, Milano, Italy;1. School of Instrument Science and Engineering, Southeast University, Nanjing, China;2. Institute of Transportation Studies, University of California, Berkeley, USA;1. School of Mechanical Engineering, Southeast University, Nanjing 211189, China;2. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China |
| Abstract: | This paper deals with vehicle sideslip angle estimation. The paper introduces an industrially amenable kinematic-based approach that does not need tire–road friction parameters or other dynamical properties of the vehicle. The convergence of the estimate is improved by the introduction of a heuristic based on readily available inertial measurements. The method is tested on a vast collection of tests performed in different conditions, showing a satisfactory behavior despite not using any information on the road friction. The extensive experimental validation confirms that the estimate is robust to a wide range of driving scenarios. |
| Keywords: | Automotive estimation Sideslip angle estimation Model free estimation Four-wheeled vehicles Vehicle stability control |
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