Title: Vehicle side slip angle estimation with stiffness adaptation

Authors: Jamil Dakhlallah, Sebastien Glaser, Said Mammar

Addresses: INRETS/LCPC – LIVIC Laboratoire sur les Interactions Vehicule-Infrastructure-Conducteur. 14, route de la Miniere, Bat 824, 78000, Versailles, France. ' INRETS/LCPC – LIVIC Laboratoire sur les Interactions Vehicule-Infrastructure-Conducteur. 14, route de la Miniere, Bat 824, 78000, Versailles, France. ' IBISC: Informatique, Biologie Integrative et Systemes Complexes – FRE CNRS 3190, 40 rue du Pelvoux CE1455, 91020, Evry, Cedex, France

Abstract: Vehicle loss of control represents a huge part of car accidents. Preventing such kind of accidents needs information on vehicle dynamics and vehicle-road interaction phenomenon. Several parameters that have a major impact on vehicle dynamics are still difficult to measure using vehicle industry technology sensors. Using an appropriate vehicle model and available measurements, the vehicle state vector, which includes the sideslip angle, as well as the road/tyre interaction forces, is reconstructed using an EKF. The estimation results are first compared to measurements collected by an equipped vehicle. The EKF is then implemented in the test vehicle and run in real-time.

Keywords: Kalman filtering; vehicle modelling; tyre-road interaction; vehicle side slip; angle estimation; stiffness; vehicle loss of control; vehicle modelling; vehicle dynamics.

DOI: 10.1504/IJVAS.2010.034099

International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.1, pp.56 - 79

Received: 12 Apr 2009
Accepted: 14 Oct 2009

Published online: 12 Jul 2010 *

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