Development and experimental evaluation of a slip angle estimator for vehicle stability control

Damrongrit Piyabongkarn, Rajesh Rajamani, John A. Grogg, Jae Y. Lew

Research output: Contribution to journalArticlepeer-review

288 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)78-88
Number of pages11
JournalIEEE Transactions on Control Systems Technology
Issue number1
StatePublished - 2009


  • Bank angle estimation
  • Friction estimation
  • Slip angle estimation
  • Stability control
  • Vehicle dynamics


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