期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 68, 期 8, 页码 7443-7454出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2019.2919129
关键词
Sideslip angle estimation; bank angle estimation; extended Kalman filter; recursive robust least square
资金
- Hyundai Motor Company
- Hyundai-Kia Motors California Proving Ground
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm which relies only on sensors available on passenger and commercial vehicles. The proposed method uses both kinematics and dynamics vehicle models to construct extended Kalman filter observers. The estimate relies on the results provided from the dynamics model observer where the tire cornering stiffness parameters are updated using the information provided from the kinematics model observer. The stability property of the proposed algorithm is discussed and proven. Finally, multiple experimental tests are conducted to verify its performance in practice. The results show that the proposed approach provides smooth and accurate sideslip angle estimation. In addition, our novel algorithm provides reliable estimates of bank angles and lateral acceleration sensor bias.
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