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2020 | OriginalPaper | Chapter

Vehicle Sideslip Angle Estimation Using Disturbance Observer

Authors: Baek-soon Kwon, Kyongsu Yi

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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Abstract

Vehicle sideslip angle is an important signal related to lateral stability and essential for active safety control systems. Since direct measurement of sideslip angle requires expensive equipment, it should be estimated in a feasible way for implementation. This paper describes a novel cost-effective strategy of sideslip angle estimation using a disturbance observer. In this approach, modeling errors of a linear vehicle model are treated as unknown lumped disturbance, which is estimated by the disturbance observer. Simultaneously, a Luenberger observer estimates the sideslip angle and yaw rate. This method requires only simplified tire model and currently-available sensor measurements such as yaw rate, lateral acceleration, steering angle and longitudinal speed. The estimation performance of the proposed observers has been verified by comparing with an interacting multiple-models (IMM) approach via computer simulation studies using vehicle experimental data. The simulation results show effective and robust estimation performance of the proposed observer under various road surfaces.
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Metadata
Title
Vehicle Sideslip Angle Estimation Using Disturbance Observer
Authors
Baek-soon Kwon
Kyongsu Yi
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_181

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