Vehicle Sideslip Angle Estimation and Experimental Validation

Abstract

This paper presents a comparison study of three different methods for the estimation of vehicle’s lateral velocity: one based on algebraic relationships, a second based on a dynamic observer, and lastly one based on kinematic equations. All methods are based on the implementation of an experimental nonlinear model that relates the front and rear axles’ lateral forces to their respective side slip angles. These nonlinear models include the effects of different surface coefficients of friction, and all three methods include a real time estimation of the surface coefficient of friction based on standard production sensors. Real time estimation performance of the proposed observers is compared and evaluated based on experimental implementation on a series production vehicle. Vehicle dynamic tests include highly dynamic maneuvers such as slaloms, single and double lane changes, fishhooks on test surfaces such as ice, snow, gravel, and wet/dry asphalt.