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A methodology for vehicle sideslip angle identification: comparison with experimental data

2007; Taylor & Francis; Volume: 45; Issue: 6 Linguagem: Inglês

10.1080/00423110601059112

1744-5159

Federico Cheli, Edoardo Sabbioni, Matteo Pesce, Stefano Melzi,

Mechanical Engineering and Vibrations Research

Sideslip angle could provide important information concerning vehicle's stability. Unfortunately direct measurement of sideslip angle requires a complex and expensive experimental set-up, which is not suitable for implementation on ordinary passenger cars; thus, this quantity has to be estimated starting from the measurements of vehicle lateral/longitudinal acceleration, speed, yaw rate and steer angle. According to the proposed methodology, sideslip angle is estimated as a weighted mean of the results provided by a kinematic formulation and those obtained through a state observer based on vehicle single-track model. Kinematical formula is considered reliable for a transient manoeuvre, while the state observer is used in nearly quasi-state condition. The basic idea of the work is to make use of the information provided by the kinematic formulation during a transient manoeuvre to update the single-track model parameters (tires cornering stiffnesses). A fuzzy-logic procedure was implemented to identify steady state or transient conditions.