Vehicle sideslip angle can be estimated using either dynamic or kinematic models. The dynamic model requires vehicle parameters, which might have uncertainties due to different load conditions, vehicle motions, and road frictions. Parameter uncertainties might result in estimation errors. Thus system identifications are required to estimate those parameters online. On the other hand, the kinematic model does not require these parameters. A closed-loop estimator can be formulated to estimate the sideslip angle using the kinematic model. Since the system matrix which consists of the yaw rate is time varying, the required input vector and output contain process and measurement noises, respectively, and the disturbance input matrix contains estimated states, extended Kalman filter is used to obtain the estimation gain in this paper. CarSim is used to evaluate the proposed approach under different driving scenarios and road frictions in Matlab/Simulink. The preliminary results show promising improvement of the sideslip angle estimation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Sideslip angle estimation using extended Kalman filter


    Contributors:
    Chen, B.-C. (author) / Hsieh, F.-C. (author)

    Published in:

    Vehicle System Dynamics ; 46 , sup1 ; 353-364


    Publication date :

    2008-09-01


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Sideslip angle estimation using extended Kalman filter

    Chen,B.C. / Hsieh,F.C. / Nat.Taipei Univ.of Technol.,TW | Automotive engineering | 2008


    Tire-road forces estimation using extended Kalman filter and sideslip angle evaluation

    Dakhlallah, J. / Glaser, S. / Mammar, S. et al. | Tema Archive | 2008


    Nonlinear estimation of vehicle sideslip angle based on adaptive extended Kalman filter

    Gao,X. / Yu,Z. / Shanghai Automotive Industry,SAIC,CN et al. | Automotive engineering | 2010



    2010-01-0117 Nonlinear Estimation of Vehicle Sideslip Angle Based on Adaptive Extended Kalman Filter

    Gao, X. / Yu, Z. / Society of Automotive Engineers | British Library Conference Proceedings | 2010