Vehicle sideslip estimation: A kinematic based approach

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. (C) 2017 Elsevier Ltd. All rights reserved.