Vehicle sideslip estimation: A kinematic based approach. (October 2017)

• Record Type: Journal Article
• Authors: Selmanaj, Donald; Corno, Matteo; Panzani, Giulio; Savaresi, Sergio M.
• Is Part Of: Control engineering practice. Volume 67(2017)
• Page Start: 1
• Page End: 12
• Publication Date: 2017-10
• Subjects: Automotive estimation -- Sideslip angle estimation -- Model free estimation -- Four-wheeled vehicles -- Vehicle stability control; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2017.06.013
• Languages: English
• ISSNs: 0967-0661

Abstract

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.