| SIDESLIP ANGLE ESTIMATION CONSIDERING SHORT-DURATION LONGITUDINAL VELOCITY VARIATION |
| H. H. KIM, J. RYU |
| Gwangju Institute of Sience and Technology |
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| ABSTRACT |
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The accurate estimation of sideslip angle is necessary for many vehicle control systems. The detection of sliding and skidding is especially critical in emergency situations. In this paper, a sideslip angle estimation method is proposed that considers severe longitudinal velocity variation over the short period of time during which a vehicle may lose stability due to sliding or spinning. An extended Kalman filter (EKF) based on a kinematic model of a vehicle is used without initialization of the inertial measurement unit to estimate vehicle longitudinal velocity. A dynamic compensation method that compensates for the difference in the locations of the vehicle velocity sensor and the IMU in on-road vehicle tests is proposed. Evaluations with a CarSim |
| Key Words:
Sideslip angle estimation, Extended Kalman filter, Simulation, On-road test, Sensor compensation |
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