Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control

Real-time knowledge of the slip angle in a vehicle is useful in many active vehicle safety applications, including yaw stability control, rollover prevention, and lane departure avoidance. Sensors to measure slip angle, including two-antenna GPS systems and optical sensors, are too expensive for ord...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2009-01, Vol.17 (1), p.78-88
Main Authors: Piyabongkarn, D., Rajamani, R., Grogg, J.A., Lew, J.Y.
Format: Article
Language:English
Subjects:
Algorithms
Applied sciences
Automobiles
Automotive applications
Automotive engineering
Bank angle estimation
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
friction estimation
Global Positioning System
Goniometers
Modelling and identification
Optical sensors
Roads
Satellite navigation systems
Sensor phenomena and characterization
Sensor systems and applications
Slip
slip angle estimation
Stability
stability control
Testing
vehicle dynamics
Vehicle safety
Yaw
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Summary:Real-time knowledge of the slip angle in a vehicle is useful in many active vehicle safety applications, including yaw stability control, rollover prevention, and lane departure avoidance. Sensors to measure slip angle, including two-antenna GPS systems and optical sensors, are too expensive for ordinary automotive applications. This paper develops a real-time algorithm for estimation of slip angle using inexpensive sensors normally available for yaw stability control applications. The algorithm utilizes a combination of model-based estimation and kinematics-based estimation. Compared with previously published results on slip angle estimation, this present paper compensates for the presence of road bank angle and variations in tire-road characteristics. The developed algorithm is evaluated through experimental tests on a Volvo XC90 sport utility vehicle. Detailed experimental results show that the developed system can reliably estimate slip angle for a variety of test maneuvers.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2008.922503