TY - GEN
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 - 2006/12/1
Y1 - 2006/12/1
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. Compared to previous results on slip angle estimation that have been published in literature, the algorithm utilizes a combination of model-based estimation and kinematics-based estimation and compensates for the presence of 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 accurately 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. Compared to previous results on slip angle estimation that have been published in literature, the algorithm utilizes a combination of model-based estimation and kinematics-based estimation and compensates for the presence of 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 accurately estimate slip angle for a variety of test maneuvers.
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M3 - Conference contribution
AN - SCOPUS:34047215443
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 5366
EP - 5371
BT - Proceedings of the 2006 American Control Conference
T2 - 2006 American Control Conference
Y2 - 14 June 2006 through 16 June 2006
ER -