Consideration on Linear Observers to Estimate Vehicle Body Slip Angle β

Abstract

Vehicle’s body slip angle, often refferred as β, increases in a dangerous driving situation such as drifting or slipping and needs to be suppressed in these situations. However, β is hard to measure without expensive optic sensors. Thus we need to estimate β with an observer. The proposed linear observer is robust to the model error, and performs well even when a driving situation is in its non-linear region.