Vehicle Sideslip Angle Estimation and Contrastive Analysis

Abstract:

It is difficult to estimate the vehicle sideslip angle which is a very important indicator of automotive lateral movement. In order to estimate the sideslip angle accurately, the kinematics direct integral method, the estimation methods based on extended Kalman filter and the extended Luenberger observer were developed in this paper. Then, the three developed sideslip angle estimation methods were adjusted and validated in several typical testing conditions in simulation, with a certain intensity of noise. The characteristics and the adaptability of different methods were also analyzed. The kinematics direct integral method cannot estimate accurately in long time range, but can swiftly show the tendency of the change of sideslip angle in extreme conditions; The extended Kalman filter can generally estimate very well, but it usually overestimates in some dynamic conditions; The extended Luenberger observer can also estimate well, but it often underestimates in some conditions.