Robust Vehicle Sideslip Estimation Based on Kinematic Considerations

被引：23

作者：

Selmanaj, D. ^{[1
,2
]}

Corno, M. ^{[3
]}

Panzani, G. ^{[3
]}

Savaresi, S. M. ^{[3
]}

机构：

[1] ETH, Inst Dynam Syst & Control, CH-8092 Zurich, Switzerland

[2] Polytech Univ Tirana, Dept Automat, Tirana 1001, Albania

[3] Politecn Milan, Dipartimento Elettr Informaz & Bioingn, Piazza Leonardo da Vinci 32, I-20132 Milan, Italy

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Side Slip Estimation; Vehicle Dynamics Control; Automotive; ANGLE ESTIMATION; OBSERVER; DESIGN; STATE;

D O I：

10.1016/j.ifacol.2017.08.2513

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes an inertial measurement based sideslip angle estimation for automotive applications. Measuring sideslip angle is costly; in most cases, in most case estimation is a preferred choice. Most estimation solutions are based on dynamical models of the car. To properly work, these solutions need to also estimate the road friction. This increases their complexity and affects their robustness. The present study proposes an inertial based approach that does not require the knowledge nor the estimation of road friction. This considerably simplifies the design, tuning and validation of the approach. Focus is devoted to the study of the effect of measurement errors. An extensive experimental validation confirms that the estimate is accurate and robust to a wide range of driving scenarios. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：14855 / 14860

页数：6

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