TY - JOUR
T1 - Development and experimental evaluation of a slip angle estimator for vehicle stability control
AU - Piyabongkarn, Damrongrit
AU - Rajamani, Rajesh
AU - Grogg, John A.
AU - Lew, Jae Y.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Bank angle estimation
KW - Friction estimation
KW - Slip angle estimation
KW - Stability control
KW - Vehicle dynamics
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U2 - 10.1109/TCST.2008.922503
DO - 10.1109/TCST.2008.922503
M3 - Article
AN - SCOPUS:58249085812
SN - 1063-6536
VL - 17
SP - 78
EP - 88
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 1
ER -