Review on vehicle sideslip angle estimation

Abstract

Vehicle sideslip angle is an important state variable in vehicle stability control system. The sideslip angle estimation problem can be divided into three aspects: Lateral velocity estimation, longitudinal velocity estimation and model parameter adaptive estimation. Then the three aspects are reviewed respectively. The advantages and disadvantages of kinematic estimation method and dynamic estimation method are compared and analysed, leading to the viewpoint that the fusion multiple estimation methods has obvious benefits and is more suitable for sideslip angle estimation. Furthermore, the performances of the typical observer techniques applied to sideslip angle estimation are compared and analysed. From analysis, it is pointed out that model parameter adaptive estimation is an effective method to improve the accuracy of sideslip angle estimation. Therefore, the parameter adaptive estimation methods that are adaptive to changes of road peak friction coefficient, tire sideslip stiffness, road slope and bank angle etc. are introduced respectively. Through analysis of the new structural characteristics of the distributed electric drive vehicle, the impacts on sideslip angle estimation issues are summarized. Then, it is pointed out that the full use of in-wheel motor torque information is one of the most important measures to improve the sideslip angle estimation performance. Based upon distributed electric drive vehicle, the key technologies and advantages of each state and parameter estimation aspects are discussed in details. © 2013 Journal of Mechanical Engineering.