Vehicle side slip angle estimation with stiffness adaptation
by Jamil Dakhlallah, Sebastien Glaser, Said Mammar
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 8, No. 1, 2010

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.

Online publication date: Mon, 12-Jul-2010

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