Four observers of vehicle side-slip angle are compared. The first is linear and uses a linear vehicle model. Next observers use an extended nonlinear model. The three nonlinear observers are: extended Luenberger observer, EKF (Extended Kalman Filter) and SMO (Sliding Mode Observer). Modeling and model simplification are described, and an observability analysis is performed for the entire vehicle trajectory. It can be seen form the simulation study that the measurement of the speed of center of gravity is not a determinant variable in the estimation of side-slip angle. But this measure gives a little estimation improvement. The EKF applied with the sensor set gives less accurate estimations than NLO (Non-Linear Observer) and SMO. There are some convergence problems with the NLO with non-optimal initial states. Nonlinear side-slip angle observers (NLO, EKF and SMO) give approximately the same results. All observers are satisfactory when lateral acceleration is low. In normal driving conditions, lateral acceleration is often low. Observers can provide a good estimation. Along the different paths, all observers are stable. Three different sets of sensors are also dealt with. Comparison is first done by simulation, and then observers are used on experimental data obtained from STRADA which is the Heudiasyc Laboratory's test vehicle: a Citroen Xantia station-wagon equipped with a number of sensors. Tests use GPS (Global Positioning System), with longitudinal and lateral acceleration to trace the path and to determine whether the vehicle reaches linear approximation limits. The speed of center of gravity is calculated as the mean of the longitudinal speeds of the two rear wheels (odometry), and yaw rate obtained from the yaw rate gyrometer. Future studies will take into account the four wheels and vertical dynamics, as well as providing a better model for longitudinal forces.
Vehicle sideslip angle observers
Beobachter für die Bestimmung des Seitenrutschwinkels für Kraftfahrzeuge
2003
6 Seiten, 10 Bilder, 3 Tabellen, 10 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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