Title: Estimation method of vehicle sideslip angle considering coupled longitudinal and lateral dynamics

Authors: Qian Zhang; Hongliang Zhou; Zhiyuan Liu; Linhui Zhao

Addresses: Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, 150006, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, 150006, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, 150006, China ' Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, 150006, China

Abstract: The coupled longitudinal and lateral dynamics control plays an important role in improving the vehicle motion performance. It is very complex to describe the lateral tyre force with a coupled longitudinal and lateral dynamics, thus making it difficult to establish a lateral dynamics model and design a sideslip angle observer. In this paper, based on the piecewise affine (PWA) description of the lateral force, a novel lateral dynamics modelling method is proposed considering coupled longitudinal dynamics. Firstly, a nominal PWA model of the lateral force is established. Secondly, by regarding the slip ratio and the dynamic load as varying parameters, we obtain a novel PWA lateral dynamics model which can describe the influence of the slip ratio on the lateral dynamics. Finally, the switched T-S observer is presented. Simulation results show the effectiveness of the proposed PWA model and the designed observer.

Keywords: coupled longitudinal and lateral dynamics; piecewise affine model; vehicle sideslip angle; lateral force; slip ratio; switched T-S observer.

DOI: 10.1504/IJVD.2023.134720

International Journal of Vehicle Design, 2023 Vol.93 No.1/2, pp.1 - 23

Received: 31 Jul 2020
Accepted: 30 Jun 2021
Published online: 09 Nov 2023 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article