Development of adaptive sideslip angle estimator

Abstract

The sideslip angle is used to control a vehicle for safety, however, it is hard to estimate the sideslip angle. In many researches, the estimator needs many unattainable variables, such as yaw inertia or cornering stiffness, to estimate the sideslip angle. This paper proposes the observer uses geometrically derived equations. The estimator needs a compensation value to estimate the sideslip angle instead of unattainable variables. The compensation value compensates the error from the imperfections of the formulas and nonlinearity motion at high speed. Estimator tunes its compensation value automatically, and uses the least squares method for estimating the compensation value and to apply to a real vehicle. Estimator is developed by LabVIEW, and gets the simulation result through CarSim. The algorithm of finding a proper compensation value is simply using the sensor data that are already mounted on vehicles, such as yaw rate, longitudinal speed, and lateral acceleration. The real vehicle test was conducted to verify the proposed algorithm. From the results, the algorithm can estimate the sideslip angle without unattainable variables.